From 31a599f303dd97593e0c6e7f93ac50d73b33bfe7 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 30 Aug 2021 09:41:43 +0200 Subject: [PATCH] Commander: add comment in COM_RC_OVERRIDE that it's always enabled in Descend mdoe Signed-off-by: Silvan Fuhrer --- src/modules/commander/ManualControl.cpp | 1 + src/modules/commander/commander_params.c | 3 +++ 2 files changed, 4 insertions(+) diff --git a/src/modules/commander/ManualControl.cpp b/src/modules/commander/ManualControl.cpp index 30fab2faa1..04ca1888d4 100644 --- a/src/modules/commander/ManualControl.cpp +++ b/src/modules/commander/ManualControl.cpp @@ -69,6 +69,7 @@ bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_ const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT) && vehicle_control_mode.flag_control_offboard_enabled; + // in Descend and LandGPSFail manual override is enbaled independently of COM_RC_OVERRIDE const bool override_landing = (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND); diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index f2010d3d81..24e97e0493 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -645,6 +645,9 @@ PARAM_DEFINE_INT32(COM_REARM_GRACE, 1); * their center position immediately gives control back to the pilot by switching to Position mode. * Note: Only has an effect on multicopters, and VTOLs in multicopter mode. * + * This parameter is not considered in case of a GPS failure (Descend flight mode), where stick + * override is always enabled. + * * @min 0 * @max 7 * @bit 0 Enable override during auto modes (except for in critical battery reaction)