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commander delete unused gps_failure_cmd

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This commit is contained in:
Daniel Agar
2017-12-20 17:53:30 -05:00
committed by Lorenz Meier
parent ca804a2308
commit 5a6cde41d5
4 changed files with 3 additions and 15 deletions
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src/modules/commander/commander.cpp
+2 -11
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@@ -960,7 +960,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
status_flags.data_link_lost_cmd = false;
status_flags.gps_failure_cmd = false;
status_flags.rc_signal_lost_cmd = false;
status_flags.vtol_transition_failure_cmd = false;
@@ -978,11 +977,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
status_flags.data_link_lost_cmd = true;
warnx("data link loss mode commanded");
} else if ((int)cmd->param2 == 3) {
/* trigger gps loss mode */
status_flags.gps_failure_cmd = true;
warnx("GPS loss mode commanded");
} else if ((int)cmd->param2 == 4) {
/* trigger rc loss mode */
status_flags.rc_signal_lost_cmd = true;
@@ -2952,7 +2946,7 @@ Commander::run()
internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL &&
internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL &&
((status.data_link_lost && status_flags.gps_failure) ||
(status_flags.data_link_lost_cmd && status_flags.gps_failure_cmd))) {
(status_flags.data_link_lost_cmd))) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
@@ -2977,7 +2971,7 @@ Commander::run()
internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status_flags.gps_failure) ||
(status_flags.rc_signal_lost_cmd && status_flags.gps_failure_cmd))) {
(status_flags.rc_signal_lost_cmd))) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
@@ -4531,9 +4525,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
if (status_flags.gps_failure) {
v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_MASK;
}
if (status_flags.gps_failure_cmd) {
v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_CMD_MASK;
}
if ((v_flags.conditions != vehicle_status_flags.conditions) ||
(v_flags.other_flags != vehicle_status_flags.other_flags) ||