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once offboard is set by mavlink command ignore RC mode

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Thomas Gubler
2014-07-16 09:39:40 +02:00
parent 35a9dad998
commit 3c8927c423
2 changed files with 12 additions and 0 deletions
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src/modules/commander/commander.cpp
+10
View File
@@ -621,11 +621,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
status_local->offboard_control_set_by_command = false;
} else {
/* Set flag that offboard was set via command, main state is not overridden by rc */
status_local->offboard_control_set_by_command = true;
}
} else {
/* If the mavlink command is used to enable or disable offboard control:
* switch back to previous mode when disabling */
res = main_state_transition(status_local, main_state_pre_offboard);
status_local->offboard_control_set_by_command = false;
}
}
break;
@@ -1749,6 +1754,11 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
/* set main state according to RC switches */
transition_result_t res = TRANSITION_DENIED;
/* if offboard is set allready by a mavlink command, abort */
if (status.offboard_control_set_by_command) {
return main_state_transition(status_local, MAIN_STATE_OFFBOARD);
}
/* offboard switch overrides main switch */
if (sp_man->offboard_switch == SWITCH_POS_ON) {
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
src/modules/uORB/topics/vehicle_status.h
+2
View File
@@ -206,6 +206,8 @@ struct vehicle_status_s {
bool offboard_control_signal_lost;
bool offboard_control_signal_weak;
uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */
bool offboard_control_set_by_command; /**< true if the offboard mode was set by a mavlink command
and should not be overridden by RC */
/* see SYS_STATUS mavlink message for the following */
uint32_t onboard_control_sensors_present;