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Rename force_failsafe to termination for clarity

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This commit is contained in:
Matthias Grob
2025-07-25 16:34:41 +02:00
committed by Alex Klimaj
parent 34dacffc4a
commit 7fe78e184e
7 changed files with 15 additions and 15 deletions
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src/lib/mixer_module/mixer_module.cpp
+3 -3
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@@ -83,7 +83,7 @@ MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, Ou
_armed.prearmed = false;
_armed.ready_to_arm = false;
_armed.lockdown = false;
_armed.force_failsafe = false;
_armed.termination = false;
_armed.in_esc_calibration_mode = false;
px4_sem_init(&_lock, 0, 1);
@@ -479,8 +479,8 @@ MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updat
_current_output_value[i] = _disarmed_value[i];
}
} else if (_armed.force_failsafe) {
// overwrite outputs in case of force_failsafe with _failsafe_value values
} else if (_armed.termination) {
// Overwrite outputs with _failsafe_value when terminated
for (size_t i = 0; i < _max_num_outputs; i++) {
_current_output_value[i] = actualFailsafeValue(i);
}
src/lib/mixer_module/mixer_module_tests.cpp
+2 -2
View File
@@ -148,12 +148,12 @@ public:
_actuator_test_pub.publish(actuator_test);
}
void sendActuatorArmed(bool armed, bool force_failsafe = false, bool manual_lockdown = false, bool prearm = false)
void sendActuatorArmed(bool armed, bool termination = false, bool manual_lockdown = false, bool prearm = false)
{
actuator_armed_s actuator_armed{};
actuator_armed.timestamp = hrt_absolute_time();
actuator_armed.armed = armed;
actuator_armed.force_failsafe = force_failsafe;
actuator_armed.termination = termination;
actuator_armed.manual_lockdown = manual_lockdown;
actuator_armed.prearmed = prearm;
_actuator_armed_pub.publish(actuator_armed);