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refactor commander: rename rc_signal_lost -> manual_control_signal_lost, data_link_lost -> gcs_connection_lost

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This commit is contained in:
Beat Küng
2022-09-19 13:43:38 +02:00
committed by Daniel Agar
parent e2d8ca73a5
commit 38d3739b6d
14 changed files with 75 additions and 74 deletions
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src/modules/commander/Commander.cpp
+11 -11
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@@ -542,7 +542,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
if (run_preflight_checks && !_arm_state_machine.isArmed()) {
if (_vehicle_control_mode.flag_control_manual_enabled) {
if (_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_vehicle_status_flags.rc_signal_lost && _is_throttle_above_center) {
!_vehicle_status_flags.manual_control_signal_lost && _is_throttle_above_center) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center\t");
events::send(events::ID("commander_arm_denied_throttle_center"),
{events::Log::Critical, events::LogInternal::Info},
@@ -552,7 +552,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
}
if (!_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_vehicle_status_flags.rc_signal_lost && !_is_throttle_low
!_vehicle_status_flags.manual_control_signal_lost && !_is_throttle_low
&& _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROVER) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t");
events::send(events::ID("commander_arm_denied_throttle_high"),
@@ -654,7 +654,7 @@ Commander::Commander() :
_vehicle_status.nav_state_timestamp = hrt_absolute_time();
/* mark all signals lost as long as they haven't been found */
_vehicle_status.data_link_lost = true;
_vehicle_status.gcs_connection_lost = true;
_vehicle_status.power_input_valid = true;
@@ -2548,13 +2548,13 @@ void Commander::dataLinkCheck()
if (telemetry.heartbeat_type_gcs) {
// Initial connection or recovery from data link lost
if (_vehicle_status.data_link_lost) {
_vehicle_status.data_link_lost = false;
if (_vehicle_status.gcs_connection_lost) {
_vehicle_status.gcs_connection_lost = false;
_status_changed = true;
if (_datalink_last_heartbeat_gcs != 0) {
mavlink_log_info(&_mavlink_log_pub, "Data link regained\t");
events::send(events::ID("commander_dl_regained"), events::Log::Info, "Data link regained");
mavlink_log_info(&_mavlink_log_pub, "GCS connection regained\t");
events::send(events::ID("commander_dl_regained"), events::Log::Info, "GCS connection regained");
}
}
@@ -2623,16 +2623,16 @@ void Commander::dataLinkCheck()
// GCS data link loss failsafe
if (!_vehicle_status.data_link_lost) {
if (!_vehicle_status.gcs_connection_lost) {
if ((_datalink_last_heartbeat_gcs != 0)
&& hrt_elapsed_time(&_datalink_last_heartbeat_gcs) > (_param_com_dl_loss_t.get() * 1_s)) {
_vehicle_status.data_link_lost = true;
_vehicle_status.data_link_lost_counter++;
_vehicle_status.gcs_connection_lost = true;
_vehicle_status.gcs_connection_lost_counter++;
mavlink_log_info(&_mavlink_log_pub, "Connection to ground station lost\t");
events::send(events::ID("commander_gcs_lost"), {events::Log::Warning, events::LogInternal::Info},
"Connection to ground station lost");
"Connection to ground control station lost");
_status_changed = true;
}