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commander: move manual_control and switches out

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This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
This commit is contained in:
Julian Oes
2021-05-11 19:09:41 +02:00
committed by Matthias Grob
parent e49b596edc
commit 97d01f200e
8 changed files with 64 additions and 410 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+8 -2
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@@ -153,8 +153,14 @@ MulticopterRateControl::Run()
landing_gear_s landing_gear;
if (_landing_gear_sub.copy(&landing_gear)) {
if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) {
_landing_gear = landing_gear.landing_gear;
if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP &&
_v_control_mode.flag_control_manual_enabled) {
if (landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) {
mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear")
} else {
_landing_gear = landing_gear.landing_gear;
}
}
}
}