From 6613272a7087f29b783ca6055853d784a365c22b Mon Sep 17 00:00:00 2001 From: Balduin Date: Thu, 20 Feb 2025 10:10:52 +0100 Subject: [PATCH] Commander: remove unneeded function 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. --- src/modules/commander/Commander.cpp | 36 ----------------------------- 1 file changed, 36 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index e82b218d26..5ff45af013 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -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())) {