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Commander: improve param description of COM_POSCTL_NAVL and rename Manual-->Stabilized

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-08-29 10:56:04 +02:00
committed by Mathieu Bresciani
parent 2cda0efd84
commit 6b3e3aa363
3 changed files with 14 additions and 18 deletions
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src/modules/commander/commander_params.c
+12 -16
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@@ -338,14 +338,14 @@ PARAM_DEFINE_INT32(COM_QC_ACT, 0);
* The offboard loss failsafe will only be entered after a timeout, * The offboard loss failsafe will only be entered after a timeout,
* set by COM_OF_LOSS_T in seconds. * set by COM_OF_LOSS_T in seconds.
* *
* @value 0 Position mode * @value 0 Position mode
* @value 1 Altitude mode * @value 1 Altitude mode
* @value 2 Manual * @value 2 Stabilized
* @value 3 Return mode * @value 3 Return mode
* @value 4 Land mode * @value 4 Land mode
* @value 5 Hold mode * @value 5 Hold mode
* @value 6 Terminate * @value 6 Terminate
* @value 7 Disarm * @value 7 Disarm
* @group Commander * @group Commander
*/ */
PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0); PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
@@ -453,16 +453,12 @@ PARAM_DEFINE_FLOAT(COM_RC_STICK_OV, 30.0f);
PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0); PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);
/** /**
* Position control navigation loss response. * Position mode navigation loss response
* *
* This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. * This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.
* *
* If Altitude/Manual is selected: assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. * @value 0 Altitude mode
* * @value 1 Land mode (descend)
* If Land/Descend is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to Descend.
*
* @value 0 Altitude/Manual
* @value 1 Land/Descend
* *
* @group Commander * @group Commander
*/ */
src/modules/commander/failsafe/failsafe.cpp
+1 -1
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@@ -292,7 +292,7 @@ FailsafeBase::Action Failsafe::fromOffboardLossActParam(int param_value, uint8_t
user_intended_mode = vehicle_status_s::NAVIGATION_STATE_ALTCTL; user_intended_mode = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
break; break;
case offboard_loss_failsafe_mode::Manual: case offboard_loss_failsafe_mode::Stabilized:
action = Action::FallbackStab; action = Action::FallbackStab;
user_intended_mode = vehicle_status_s::NAVIGATION_STATE_STAB; user_intended_mode = vehicle_status_s::NAVIGATION_STATE_STAB;
break; break;
src/modules/commander/failsafe/failsafe.h
+1 -1
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@@ -70,7 +70,7 @@ private:
enum class offboard_loss_failsafe_mode : int32_t { enum class offboard_loss_failsafe_mode : int32_t {
Position_mode = 0, Position_mode = 0,
Altitude_mode = 1, Altitude_mode = 1,
Manual = 2, Stabilized = 2,
Return_mode = 3, Return_mode = 3,
Land_mode = 4, Land_mode = 4,
Hold_mode = 5, Hold_mode = 5,