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Implement RC and DL failsafe action handling for multirotors

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Move RC and DL failsafe actions handling from navigator to commander (credits to @AndreasAntener)
Separate manual kill switch handling via manual_lockdown to prevent override and release of software lockdown by RC switch

Other changes:
Add failsafe tune
Fix LED blinking for Pixracer
Return back support for rc inputs in simulator but now it is configurable via cmake
This commit is contained in:
Anton Matosov
2016-12-27 00:38:13 +01:00
committed by Lorenz Meier
parent 964dabe179
commit 3a17c07b1e
21 changed files with 579 additions and 211 deletions
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src/drivers/ardrone_interface/ardrone_interface.c
+1 -1
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@@ -333,7 +333,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* for now only spin if armed and immediately shut down
* if in failsafe
*/
if (armed.armed && !armed.lockdown) {
if (armed.armed && !(armed.lockdown || armed.manual_lockdown)) {
ardrone_mixing_and_output(ardrone_write, &actuator_controls);
} else {