fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 13:47:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ManualControl: introduce stick gesture for killing

Browse Source
This commit is contained in:
Matthias Grob
2021-10-21 18:27:08 +02:00
committed by Mathieu Bresciani
parent 2110eae25d
commit 78987f6016
4 changed files with 45 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+6 -6
View File
@@ -1615,9 +1615,9 @@ void Commander::executeActionRequest(const action_request_s &action_request)
break;
case action_request_s::ACTION_UNKILL:
if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && _actuator_armed.manual_lockdown) {
mavlink_log_info(&_mavlink_log_pub, "Kill-switch disengaged\t");
events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill-switch disengaged");
if (_actuator_armed.manual_lockdown) {
mavlink_log_info(&_mavlink_log_pub, "Kill disengaged\t");
events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill disengaged");
_status_changed = true;
_actuator_armed.manual_lockdown = false;
}
@@ -1625,8 +1625,8 @@ void Commander::executeActionRequest(const action_request_s &action_request)
break;
case action_request_s::ACTION_KILL:
if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && !_actuator_armed.manual_lockdown) {
const char kill_switch_string[] = "Kill-switch engaged\t";
if (!_actuator_armed.manual_lockdown) {
const char kill_switch_string[] = "Kill engaged\t";
events::LogLevels log_levels{events::Log::Info};
if (_vehicle_land_detected.landed) {
@@ -1637,7 +1637,7 @@ void Commander::executeActionRequest(const action_request_s &action_request)
log_levels.external = events::Log::Critical;
}
events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill-switch engaged");
events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill engaged");
_status_changed = true;
_actuator_armed.manual_lockdown = true;