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commander: run arming checks on _offboard_control_mode_sub update

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This commit is contained in:
Beat Küng 2022-09-09 09:41:52 +02:00 committed by Daniel Agar
parent 6ee2252b8c
commit 3d1da597dd
2 changed files with 14 additions and 1 deletions
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13
src/modules/commander/Commander.cpp
View File

@ -1708,6 +1708,8 @@ void Commander::run()
manualControlCheck();
offboardControlCheck();
// data link checks which update the status
dataLinkCheck();
@ -2407,7 +2409,6 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
void Commander::updateControlMode()
{
_vehicle_control_mode = {};
_offboard_control_mode_sub.update();
mode_util::getVehicleControlMode(_arm_state_machine.isArmed(), _vehicle_status.nav_state,
_vehicle_status.vehicle_type, _offboard_control_mode_sub.get(), _vehicle_control_mode);
_vehicle_control_mode.timestamp = hrt_absolute_time();
@ -2782,6 +2783,16 @@ void Commander::manualControlCheck()
}
}
void Commander::offboardControlCheck()
{
if (_offboard_control_mode_sub.update()) {
if (_vehicle_status_flags.offboard_control_signal_lost) {
// Run arming checks immediately to allow for offboard mode activation
_status_changed = true;
}
}
}
void Commander::send_parachute_command()
{
vehicle_command_s vcmd{};

2
src/modules/commander/Commander.hpp
View File

@ -133,6 +133,8 @@ private:
void manualControlCheck();
void offboardControlCheck();
/**
* @brief Handle incoming vehicle command relavant to Commander
*