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Commander: only disallow RC override during battery failsafe delay

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This commit is contained in:
Matthias Grob
2022-01-18 10:59:13 +01:00
committed by Daniel Agar
parent 5ec21835a4
commit 405852b5c8
1 changed files with 3 additions and 3 deletions
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src/modules/commander/Commander.cpp
+3 -3
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@@ -2410,14 +2410,14 @@ Commander::run()
_geofence_result_sub.update(&_geofence_result);
_status.geofence_violated = _geofence_result.geofence_violated;
const bool in_low_battery_failsafe = _battery_warning > battery_status_s::BATTERY_WARNING_LOW;
const bool in_low_battery_failsafe_delay = _battery_failsafe_timestamp != 0;
// Geofence actions
const bool geofence_action_enabled = _geofence_result.geofence_action != geofence_result_s::GF_ACTION_NONE;
if (_armed.armed
&& geofence_action_enabled
&& !in_low_battery_failsafe) {
&& !in_low_battery_failsafe_delay) {
// check for geofence violation transition
if (_geofence_result.geofence_violated && !_geofence_violated_prev) {
@@ -2598,7 +2598,7 @@ Commander::run()
// Abort autonomous mode and switch to position mode if sticks are moved significantly
// but only if actually in air.
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on
&& !in_low_battery_failsafe_delay && !_geofence_warning_action_on
&& _armed.armed
&& !_status_flags.rc_calibration_in_progress
&& manual_control_setpoint.valid