fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 08:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: don't publish RC_IN_MODE to vehicle_status

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
-3
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();