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commander: handle_command() use _armed directly

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This commit is contained in:
Daniel Agar
2020-12-01 11:28:23 -05:00
committed by Beat Küng
parent 741a0b43e8
commit 8ac2581d7b
2 changed files with 8 additions and 8 deletions
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src/modules/commander/Commander.cpp
+7 -7
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@@ -465,7 +465,7 @@ Commander::Commander() :
}
bool
Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_s &cmd, actuator_armed_s *armed_local)
Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_s &cmd)
{
/* only handle commands that are meant to be handled by this system and component */
if (cmd.target_system != status_local->system_id || ((cmd.target_component != status_local->component_id)
@@ -662,7 +662,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
if (!enforce) {
if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(&status)) {
if (cmd_arms) {
if (armed_local->armed) {
if (_armed.armed) {
mavlink_log_warning(&_mavlink_log_pub, "Arming denied! Already armed");
} else {
@@ -739,7 +739,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd.param1 > 1.5f) {
if (!_lockdown_triggered) {
armed_local->lockdown = true;
_armed.lockdown = true;
_lockdown_triggered = true;
PX4_WARN("forcing lockdown (motors off)");
}
@@ -747,7 +747,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
} else if (cmd.param1 > 0.5f) {
//XXX update state machine?
if (!_flight_termination_triggered) {
armed_local->force_failsafe = true;
_armed.force_failsafe = true;
_flight_termination_triggered = true;
PX4_WARN("forcing failsafe (termination)");
}
@@ -758,8 +758,8 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
}
} else {
armed_local->force_failsafe = false;
armed_local->lockdown = false;
_armed.force_failsafe = false;
_armed.lockdown = false;
_lockdown_triggered = false;
_flight_termination_triggered = false;
@@ -2306,7 +2306,7 @@ Commander::run()
PX4_ERR("vehicle_command lost, generation %d -> %d", last_generation, _cmd_sub.get_last_generation());
}
if (handle_command(&status, cmd, &_armed)) {
if (handle_command(&status, cmd)) {
_status_changed = true;
}
}