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ManualControl: name, message, comment, const qualifier improvements

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addressing review from @bresch, @julianoes and @JonasVautherin
This commit is contained in:
Matthias Grob
2021-03-03 21:44:40 +01:00
parent 2f39651f77
commit 5bbc66f3af
3 changed files with 15 additions and 20 deletions
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src/modules/commander/Commander.cpp
+3 -3
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@@ -427,14 +427,14 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
if (run_preflight_checks) {
if (_vehicle_control_mode.flag_control_manual_enabled) {
if (_vehicle_control_mode.flag_control_climb_rate_enabled && _manual_control.isThrottleAboveCenter()) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied because throttle above center");
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center");
tune_negative(true);
return TRANSITION_DENIED;
}
if (!_vehicle_control_mode.flag_control_climb_rate_enabled && !_manual_control.isThrottleLow()) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied because of high throttle");
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle");
tune_negative(true);
return TRANSITION_DENIED;
}
@@ -2230,7 +2230,7 @@ Commander::run()
if (!_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) {
mavlink_log_critical(&_mavlink_log_pub, "Manual control lost");
_status.rc_signal_lost = true;
_rc_signal_lost_timestamp = _manual_control.getLastRCTimestamp();
_rc_signal_lost_timestamp = _manual_control.getLastRcTimestamp();
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, _status);
_status_changed = true;
}