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Commander: Do not abort low battery handling due to stick motion.

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This commit is contained in:
Lorenz Meier
2017-03-09 21:18:35 +01:00
parent e9e79cdc9b
commit 1a3317ebab
1 changed files with 9 additions and 6 deletions
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src/modules/commander/commander.cpp
+9 -6
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@@ -2522,14 +2522,15 @@ int commander_thread_main(int argc, char *argv[])
warning_action_on = warning_action_on || (geofence_loiter_on || geofence_rtl_on);
}
// revert geofence failsafe transition if sticks are moved and we were previously in MANUAL or ASSIST
if (warning_action_on &&
// revert geofence failsafe transition if sticks are moved and we were previously in a manual mode
// but only if not in a low battery handling action
if (!critical_battery_voltage_actions_done && (warning_action_on &&
(main_state_before_rtl == commander_state_s::MAIN_STATE_MANUAL ||
main_state_before_rtl == commander_state_s::MAIN_STATE_ALTCTL ||
main_state_before_rtl == commander_state_s::MAIN_STATE_POSCTL ||
main_state_before_rtl == commander_state_s::MAIN_STATE_ACRO ||
main_state_before_rtl == commander_state_s::MAIN_STATE_RATTITUDE ||
main_state_before_rtl == commander_state_s::MAIN_STATE_STAB)) {
main_state_before_rtl == commander_state_s::MAIN_STATE_STAB))) {
// transition to previous state if sticks are touched
if ((_last_sp_man.timestamp != sp_man.timestamp) &&
@@ -2540,14 +2541,16 @@ int commander_thread_main(int argc, char *argv[])
// revert to position control in any case
main_state_transition(&status, commander_state_s::MAIN_STATE_POSCTL, main_state_prev, &status_flags, &internal_state);
mavlink_log_critical(&mavlink_log_pub, "Aborted RTL, returned control to pilot");
mavlink_log_critical(&mavlink_log_pub, "Autopilot off, returned control to pilot");
}
}
// abort landing or auto or loiter if sticks are moved significantly
if (internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
// but only if not in a low battery handling action
if (!critical_battery_voltage_actions_done &&
(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER) {
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER)) {
// transition to previous state if sticks are touched
if ((_last_sp_man.timestamp != sp_man.timestamp) &&