fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-16 05:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Separate RC and manual control terms

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-08-15 13:57:31 +02:00
committed by Matthias Grob
parent e15752099f
commit 16f97635ce
9 changed files with 42 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp
+3 -4
View File
@@ -37,7 +37,6 @@ using namespace time_literals;
void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporter)
{
// RC
manual_control_setpoint_s manual_control_setpoint;
if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
@@ -45,7 +44,7 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte
reporter.failsafeFlags().manual_control_signal_lost = true;
}
// Check if RC is valid
// Check if manual control is valid
if (!manual_control_setpoint.valid
|| hrt_elapsed_time(&manual_control_setpoint.timestamp) > _param_com_rc_loss_t.get() * 1_s) {
@@ -77,14 +76,14 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte
if (reporter.failsafeFlags().gcs_connection_lost) {
// Prevent arming if we neither have RC nor a GCS connection. TODO: disabled for now due to MAVROS tests
// Prevent arming if we neither have manual control nor a GCS connection. TODO: disabled for now due to MAVROS tests
bool gcs_connection_required = _param_nav_dll_act.get() > 0
/*|| (rc_is_optional && reporter.failsafeFlags().manual_control_signal_lost) */;
NavModes affected_modes = gcs_connection_required ? NavModes::All : NavModes::None;
events::LogLevel log_level = gcs_connection_required ? events::Log::Error : events::Log::Info;
/* EVENT
* @description
* To arm, at least a data link or manual control (RC) must be present.
* To arm, at least a data link or RC must be present.
*
* <profile name="dev">
* This check can be configured via <param>NAV_DLL_ACT</param> parameter.