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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/modules/commander/Commander.cpp
+4 -4
View File
@@ -94,7 +94,7 @@ static constexpr bool operator ==(const actuator_armed_s &a, const actuator_arme
a.ready_to_arm == b.ready_to_arm &&
a.lockdown == b.lockdown &&
a.manual_lockdown == b.manual_lockdown &&
a.force_failsafe == b.force_failsafe &&
a.termination == b.termination &&
a.in_esc_calibration_mode == b.in_esc_calibration_mode);
}
static_assert(sizeof(actuator_armed_s) == 16, "actuator_armed equality operator review");
@@ -1898,11 +1898,11 @@ void Commander::run()
_actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
|| _multicopter_throw_launch.isThrowLaunchInProgress());
// _actuator_armed.manual_lockdown // action_request_s::ACTION_KILL
_actuator_armed.force_failsafe = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
// if force_failsafe activated send parachute command
if (!actuator_armed_prev.force_failsafe && _actuator_armed.force_failsafe && isArmed()) {
// Send parachute command upon termination
if (!actuator_armed_prev.termination && _actuator_armed.termination && isArmed()) {
send_parachute_command();
}
src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp
+1 -1
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@@ -42,7 +42,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
actuator_armed_s actuator_armed;
if (_actuator_armed_sub.copy(&actuator_armed)) {
if (actuator_armed.force_failsafe || actuator_armed.manual_lockdown) {
if (actuator_armed.termination || actuator_armed.manual_lockdown) {
/* EVENT
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_flight_term_active"),
src/modules/mavlink/streams/HEARTBEAT.hpp
+3 -3
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@@ -119,9 +119,9 @@ private:
}
// system_status overrides
if (actuator_armed.force_failsafe || (actuator_armed.lockdown
&& vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF) || actuator_armed.manual_lockdown
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
if (actuator_armed.termination
|| (actuator_armed.lockdown && vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF)
|| actuator_armed.manual_lockdown) {
system_status = MAV_STATE_FLIGHT_TERMINATION;
}