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commander: moved offboard bools into status_flags

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The offboard status bools were not used anywhere but in the commander.
Therefore they are now moved to the local status_flags topic.
This commit is contained in:
Julian Oes
2016-02-26 10:20:52 +00:00
parent a11a986df8
commit 23df992cc5
4 changed files with 17 additions and 19 deletions
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src/modules/commander/commander.cpp
+10 -10
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@@ -984,18 +984,18 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
status_local->offboard_control_set_by_command = false;
status_flags.offboard_control_set_by_command = false;
} else {
/* Set flag that offboard was set via command, main state is not overridden by rc */
status_local->offboard_control_set_by_command = true;
status_flags.offboard_control_set_by_command = true;
}
} else {
/* If the mavlink command is used to enable or disable offboard control:
* switch back to previous mode when disabling */
res = main_state_transition(status_local, main_state_pre_offboard, main_state_prev, &status_flags);
status_local->offboard_control_set_by_command = false;
status_flags.offboard_control_set_by_command = false;
}
}
break;
@@ -1237,12 +1237,12 @@ int commander_thread_main(int argc, char *argv[])
status.failsafe = false;
/* neither manual nor offboard control commands have been received */
status.offboard_control_signal_found_once = false;
status_flags.offboard_control_signal_found_once = false;
status.rc_signal_found_once = false;
/* mark all signals lost as long as they haven't been found */
status.rc_signal_lost = true;
status.offboard_control_signal_lost = true;
status_flags.offboard_control_signal_lost = true;
status.data_link_lost = true;
status_flags.condition_system_prearm_error_reported = false;
@@ -1625,14 +1625,14 @@ int commander_thread_main(int argc, char *argv[])
if (offboard_control_mode.timestamp != 0 &&
offboard_control_mode.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) {
if (status.offboard_control_signal_lost) {
status.offboard_control_signal_lost = false;
if (status_flags.offboard_control_signal_lost) {
status_flags.offboard_control_signal_lost = false;
status_changed = true;
}
} else {
if (!status.offboard_control_signal_lost) {
status.offboard_control_signal_lost = true;
if (!status_flags.offboard_control_signal_lost) {
status_flags.offboard_control_signal_lost = true;
status_changed = true;
}
}
@@ -2883,7 +2883,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
// XXX this should not be necessary any more, we should be able to
// just delete this and respond to mode switches
/* if offboard is set already by a mavlink command, abort */
if (status.offboard_control_set_by_command) {
if (status_flags.offboard_control_set_by_command) {
return main_state_transition(status_local,vehicle_status_s::MAIN_STATE_OFFBOARD, main_state_prev, &status_flags);
}