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commander delete unused vtol_transition_failure_cmd

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This commit is contained in:
Daniel Agar
2017-12-27 02:41:10 +08:00
committed by Lorenz Meier
parent d0fba8bf8b
commit 17e17d79dd
4 changed files with 0 additions and 16 deletions
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src/modules/commander/commander.cpp
-10
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@@ -959,7 +959,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
status_flags.vtol_transition_failure_cmd = false;
if ((int)cmd->param2 <= 0) {
/* reset all commanded failure modes */
@@ -969,11 +968,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
/* trigger engine failure mode */
status_local->engine_failure_cmd = true;
warnx("engine failure mode commanded");
} else if ((int)cmd->param2 == 5) {
/* trigger vtol transition failure mode */
status_flags.vtol_transition_failure_cmd = true;
warnx("vtol transition failure mode commanded");
}
} else {
@@ -2041,7 +2035,6 @@ Commander::run()
status.in_transition_mode = vtol_status.vtol_in_trans_mode;
status.in_transition_to_fw = vtol_status.in_transition_to_fw;
status_flags.vtol_transition_failure = vtol_status.vtol_transition_failsafe;
status_flags.vtol_transition_failure_cmd = vtol_status.vtol_transition_failsafe;
armed.soft_stop = !status.is_rotary_wing;
}
@@ -4501,9 +4494,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
if (status_flags.vtol_transition_failure) {
v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_MASK;
}
if (status_flags.vtol_transition_failure_cmd) {
v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_CMD_MASK;
}
if (status_flags.gps_failure) {
v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_MASK;
}
src/modules/commander/state_machine_helper.cpp
-3
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@@ -672,9 +672,6 @@ bool set_nav_state(struct vehicle_status_s *status,
if (status->engine_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->vtol_transition_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status_flags->gps_failure) {
if (status->is_rotary_wing) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
src/modules/commander/state_machine_helper.h
-1
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@@ -105,7 +105,6 @@ struct status_flags_s {
bool rc_signal_found_once;
bool rc_input_blocked; // set if RC input should be ignored temporarily
bool vtol_transition_failure; // Set to true if vtol transition failed
bool vtol_transition_failure_cmd; // Set to true if vtol transition failure mode is commanded
bool gps_failure; // Set to true if a gps failure is detected
};