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Commander: remove unneeded function

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The preflight check can be enabled by switching to nav_state
vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK using
VEHICLE_CMD_SET_NAV_STATE. Thus we can ditch this function and forgo
adding an extra vehicle command.
This commit is contained in:
Balduin
2025-02-20 10:10:52 +01:00
parent 6e6df2e47e
commit 6613272a70
1 changed files with 0 additions and 36 deletions
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src/modules/commander/Commander.cpp
-36
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@@ -1572,42 +1572,6 @@ void Commander::handleCommandsFromModeExecutors()
}
}
unsigned Commander::handleCommandControlTest(const vehicle_command_s &cmd)
{
// TODO: trigger this some different way using params for dev purposes...?
// TODO: decode from command: do we want to test roll/pitch/yaw(/collective tilt), or
// individual control surfaces?
// TODO define these somewhere else like all the cool kids do
static const int TEST_MODE_INDIVIDUAL = 0;
static const int TEST_MODE_RPY = 1;
int test_mode = TEST_MODE_RPY;
if (test_mode == TEST_MODE_INDIVIDUAL) {
// _user_mode_intention.change()
// _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_SERVO_TEST);
PX4_INFO("Not implemented");
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
} else if (test_mode == TEST_MODE_RPY) {
// this nice pattern stolen from handle_command
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
unsigned Commander::handleCommandActuatorTest(const vehicle_command_s &cmd)
{
if (isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {