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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/uavcan/uavcan_servers.cpp
+1 -1
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@@ -536,7 +536,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
struct actuator_armed_s armed;
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
if (armed.armed && !armed.lockdown) {
if (armed.armed && !(armed.lockdown || armed.manual_lockdown)) {
warnx("UAVCAN command bridge: system armed, exiting now.");
break;
}