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Separate RC and manual control terms

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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
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src/modules/commander/failsafe/failsafe.cpp
+1 -1
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@@ -456,7 +456,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
&& in_forward_flight && !state.mission_finished;
// Manual control (RC) loss
// Manual control (RC or joystick) loss
if (!status_flags.manual_control_signal_lost) {
// If manual control was lost and arming was allowed, consider it optional until we regain manual control
_manual_control_lost_at_arming = false;
src/modules/commander/failsafe/failsafe_test.cpp
+4 -4
View File
@@ -109,7 +109,7 @@ TEST_F(FailsafeTest, general)
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
// RC lost -> Hold, then RTL
// manual control lost -> Hold, then RTL
time += 10_ms;
failsafe_flags.manual_control_signal_lost = true;
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
@@ -127,14 +127,14 @@ TEST_F(FailsafeTest, general)
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Descend);
// DL link regained -> RTL (RC still lost)
// DL link regained -> RTL (manual control still lost)
time += 10_ms;
failsafe_flags.gcs_connection_lost = false;
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
// RC lost cleared -> keep RTL
// Manual control lost cleared -> keep RTL
time += 10_ms;
failsafe_flags.manual_control_signal_lost = false;
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
@@ -425,7 +425,7 @@ TEST_F(FailsafeTest, skip_failsafe)
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
// RC lost while in RTL -> stay in RTL and only warn
// Manual control lost while in RTL -> stay in RTL and only warn
failsafe_flags.manual_control_signal_lost = true;
updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);