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Commander: cleanup COM_POSCTL_NAVL parameter

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- move to px4::params
- use enum
This commit is contained in:
Julien Lecoeur
2019-08-15 12:20:18 +02:00
committed by Julian Oes
parent 907b6ccf46
commit 4c9288d993
5 changed files with 13 additions and 13 deletions
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src/modules/commander/Commander.cpp
+1 -8
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@@ -1243,9 +1243,6 @@ Commander::run()
param_t _param_airmode = param_find("MC_AIRMODE");
param_t _param_rc_map_arm_switch = param_find("RC_MAP_ARM_SW");
/* failsafe response to loss of navigation accuracy */
param_t _param_posctl_nav_loss_act = param_find("COM_POSCTL_NAVL");
status_flags.avoidance_system_required = _param_com_obs_avoid.get();
/* pthread for slow low prio thread */
@@ -1374,7 +1371,6 @@ Commander::run()
param_get(_param_rc_arm_hyst, &rc_arm_hyst);
rc_arm_hyst *= COMMANDER_MONITORING_LOOPSPERMSEC;
int32_t posctl_nav_loss_act = 0;
int32_t geofence_action = 0;
int32_t flight_uuid = 0;
int32_t airmode = 0;
@@ -1508,9 +1504,6 @@ Commander::run()
param_get(_param_fmode_5, &_flight_mode_slots[4]);
param_get(_param_fmode_6, &_flight_mode_slots[5]);
/* failsafe response to loss of navigation accuracy */
param_get(_param_posctl_nav_loss_act, &posctl_nav_loss_act);
param_get(_param_takeoff_finished_action, &takeoff_complete_act);
/* check for unsafe Airmode settings: yaw airmode requires the use of an arming switch */
@@ -2317,7 +2310,7 @@ Commander::run()
(link_loss_actions_t)_param_nav_rcl_act.get(),
_param_com_obl_act.get(),
_param_com_obl_rc_act.get(),
posctl_nav_loss_act);
(position_nav_loss_actions_t)_param_com_posctl_navl.get());
if (status.failsafe != failsafe_old) {
status_changed = true;