From 7fa885c7b355db30ef11076f26caaa10cb865b37 Mon Sep 17 00:00:00 2001 From: Julien Lecoeur Date: Mon, 19 Aug 2019 10:43:56 +0200 Subject: [PATCH] Document the behaviour of TERMINATE and LOCKDOWN in comments --- src/modules/commander/state_machine_helper.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index e22486f0d1..3ea6711b91 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -64,8 +64,8 @@ enum class link_loss_actions_t { AUTO_RTL = 2, // Return mode AUTO_LAND = 3, // Land mode AUTO_RECOVER = 4, // Data Link Auto Recovery (CASA Outback Challenge rules) - TERMINATE = 5, // Turn off all controllers and set PWM outputs to failsafe value - LOCKDOWN = 6, // Kill the motors, same result as kill switch + TERMINATE = 5, // Terminate flight (set actuator outputs to failsafe values, and stop controllers) + LOCKDOWN = 6, // Lock actuators (set actuator outputs to disarmed values) }; enum class offboard_loss_actions_t { @@ -73,8 +73,8 @@ enum class offboard_loss_actions_t { AUTO_LAND = 0, // Land mode AUTO_LOITER = 1, // Hold mode AUTO_RTL = 2, // Return mode - TERMINATE = 3, // Turn off all controllers and set PWM outputs to failsafe value - LOCKDOWN = 4, // Kill the motors, same result as kill switch + TERMINATE = 3, // Terminate flight (set actuator outputs to failsafe values, and stop controllers) + LOCKDOWN = 4, // Lock actuators (set actuator outputs to disarmed values) }; enum class offboard_loss_rc_actions_t { @@ -85,8 +85,8 @@ enum class offboard_loss_rc_actions_t { AUTO_RTL = 3, // Return mode AUTO_LAND = 4, // Land mode AUTO_LOITER = 5, // Hold mode - TERMINATE = 6, // Turn off all controllers and set PWM outputs to failsafe value - LOCKDOWN = 7, // Kill the motors, same result as kill switch + TERMINATE = 6, // Terminate flight (set actuator outputs to failsafe values, and stop controllers) + LOCKDOWN = 7, // Lock actuators (set actuator outputs to disarmed values) }; enum class position_nav_loss_actions_t {