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Commander: don't publish RC_IN_MODE to vehicle_status

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This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
This commit is contained in:
Matthias Grob 2021-10-07 11:58:01 +02:00
parent fff2de43a5
commit 7a2ef4a917
4 changed files with 4 additions and 11 deletions
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5
msg/vehicle_status.msg
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@ -48,10 +48,6 @@ uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
uint8 NAVIGATION_STATE_MAX = 22
uint8 RC_IN_MODE_DEFAULT = 0
uint8 RC_IN_MODE_OFF = 1
uint8 RC_IN_MODE_GENERATED = 2
uint8 VEHICLE_TYPE_UNKNOWN = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
@ -83,7 +79,6 @@ bool in_transition_mode # True if VTOL is doing a transition
bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
bool rc_signal_lost # true if RC reception lost
uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
bool data_link_lost # datalink to GCS lost
uint8 data_link_lost_counter # counts unique data link lost events

5
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
View File

@ -197,7 +197,10 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
}
/* ---- RC CALIBRATION ---- */
if (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT) {
int32_t com_rc_in_mode{0};
param_get(param_find("COM_RC_IN_MODE"), &com_rc_in_mode);
if (com_rc_in_mode == 0) {
if (rcCalibrationCheck(mavlink_log_pub, report_failures, status.is_vtol) != OK) {
if (report_failures) {
mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");

3
src/modules/commander/Commander.cpp
View File

@ -659,7 +659,6 @@ Commander::Commander() :
_status_flags.condition_system_sensors_initialized = true;
// We want to accept RC inputs as default
_status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
_status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
_status.nav_state_timestamp = hrt_absolute_time();
_status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
@ -1840,8 +1839,6 @@ Commander::run()
_status_flags.avoidance_system_required = _param_com_obs_avoid.get();
_status.rc_input_mode = _param_rc_in_off.get();
_arm_requirements.arm_authorization = _param_arm_auth_required.get();
_arm_requirements.esc_check = _param_escs_checks_required.get();
_arm_requirements.global_position = !_param_arm_without_gps.get();

2
src/modules/commander/Commander.hpp
View File

@ -245,8 +245,6 @@ private:
(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
// Circuit breakers
(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,