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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
2021-11-09 16:05:25 +01:00
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.hpp
+8 -1
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@@ -186,6 +186,8 @@ private:
(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_com_rc_override,
(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
@@ -255,7 +257,7 @@ private:
(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
// Geofrence
// Geofence
(ParamInt<px4::params::GF_ACTION>) _param_geofence_action,
// Mavlink
@@ -275,6 +277,11 @@ private:
ALWAYS = 2
};
enum class RcOverrideBits : int32_t {
AUTO_MODE_BIT = (1 << 0),
OFFBOARD_MODE_BIT = (1 << 1),
};
/* Decouple update interval and hysteresis counters, all depends on intervals */
static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};