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Commander: support finer granularity of data llink loss and RC loss actions

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Lorenz Meier
2016-04-23 16:51:10 +02:00
parent b781006e20
commit 55d18949bc
4 changed files with 12 additions and 17 deletions
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src/modules/commander/state_machine_helper.cpp
+2 -2
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@@ -585,7 +585,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
*/
bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe, status_flags_s *status_flags, bool landed)
const bool stay_in_failsafe, status_flags_s *status_flags, bool landed, const bool rc_loss_enabled)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -601,7 +601,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
case commander_state_s::MAIN_STATE_ALTCTL:
case commander_state_s::MAIN_STATE_POSCTL:
/* require RC for all manual modes */
if ((status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
if (rc_loss_enabled && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
status->failsafe = true;
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {