From 200be07021bd8233ae010c1432e4dbcc4a2ee3e9 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 25 Jul 2025 17:26:54 +0200 Subject: [PATCH] action_request: rename ACTION_TERMINATE to ACTION_TERMINATION for clarity --- msg/ActionRequest.msg | 2 +- src/modules/commander/Commander.cpp | 2 +- src/modules/manual_control/ManualControl.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/msg/ActionRequest.msg b/msg/ActionRequest.msg index 9ba20089dd..ad91780331 100644 --- a/msg/ActionRequest.msg +++ b/msg/ActionRequest.msg @@ -15,7 +15,7 @@ uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors) uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field. uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight -uint8 ACTION_TERMINATE = 8 # Flight termination (irreversible) +uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 925fb49853..e0081356ac 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1692,7 +1692,7 @@ void Commander::executeActionRequest(const action_request_s &action_request) break; - case action_request_s::ACTION_TERMINATE: + case action_request_s::ACTION_TERMINATION: _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_TERMINATION); break; diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index 4015c2abad..082b2ccaa3 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -239,7 +239,7 @@ void ManualControl::processSwitches(hrt_abstime &now) if (switches.termination_switch != _previous_switches.termination_switch && switches.termination_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_TERMINATE, action_request_s::SOURCE_RC_SWITCH); + sendActionRequest(action_request_s::ACTION_TERMINATION, action_request_s::SOURCE_RC_SWITCH); } if (switches.gear_switch != _previous_switches.gear_switch