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commander: only override according to param

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This got lost in the refactor earlier.
This commit is contained in:
Julian Oes
2021-05-18 11:30:01 +02:00
committed by Matthias Grob
parent 56b2b81600
commit 2e9edfcd89
2 changed files with 16 additions and 2 deletions
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src/modules/commander/Commander.cpp
+8 -1
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@@ -2407,13 +2407,20 @@ Commander::run()
}
const bool override_enabled =
((_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::AUTO_MODE_BIT))
&& _vehicle_control_mode.flag_control_auto_enabled)
|| ((_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::OFFBOARD_MODE_BIT))
&& _vehicle_control_mode.flag_control_offboard_enabled);
// Abort autonomous mode and switch to position mode if sticks are moved significantly
// but only if actually in air.
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on
&& _armed.armed
&& !_status_flags.rc_input_blocked
&& manual_control_setpoint.user_override) {
&& manual_control_setpoint.user_override
&& override_enabled) {
const transition_result_t posctl_result =
main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);