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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/modules/commander/commander_tests/state_machine_helper_test.cpp
+3 -3
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@@ -477,9 +477,9 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
bool StateMachineHelperTest::isSafeTest(void)
{
struct vehicle_status_s current_state;
struct safety_s safety;
struct actuator_armed_s armed;
struct vehicle_status_s current_state = {};
struct safety_s safety = {};
struct actuator_armed_s armed = {};
armed.armed = false;
armed.lockdown = false;