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Commander: gate manual control setpoint processing on new data

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This commit is contained in:
Matthias Grob
2021-02-22 11:34:44 +01:00
parent 935423b563
commit a43a829fdf
3 changed files with 30 additions and 20 deletions
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src/modules/commander/Commander.cpp
+17 -18
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@@ -2084,21 +2084,6 @@ Commander::run()
_geofence_violated_prev = false;
}
_manual_control.setRCAllowed(!_status_flags.rc_input_blocked);
_manual_control.update();
// abort autonomous mode and switch to position mode if sticks are moved significantly
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on
&& _manual_control.wantsOverride(_vehicle_control_mode)) {
if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
&_internal_state) == TRANSITION_CHANGED) {
tune_positive(true);
mavlink_log_info(&_mavlink_log_pub, "Pilot took over control using sticks");
_status_changed = true;
}
}
/* Check for mission flight termination */
if (_armed.armed && _mission_result_sub.get().flight_termination &&
!_status_flags.circuit_breaker_flight_termination_disabled) {
@@ -2116,9 +2101,10 @@ Commander::run()
}
}
// Manual control input handling
_manual_control.setRCAllowed(!_status_flags.rc_input_blocked);
/* RC input check */
if (_manual_control.isRCAvailable()) {
if (_manual_control.update()) {
/* handle the case where RC signal was regained */
if (!_status_flags.rc_signal_found_once) {
@@ -2158,6 +2144,18 @@ Commander::run()
}
}
// abort autonomous mode and switch to position mode if sticks are moved significantly
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on
&& _manual_control.wantsOverride(_vehicle_control_mode)) {
if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
&_internal_state) == TRANSITION_CHANGED) {
tune_positive(true);
mavlink_log_info(&_mavlink_log_pub, "Pilot took over control using sticks");
_status_changed = true;
}
}
if (_manual_control_switches_sub.update(&_manual_control_switches) || safety_updated) {
// handle landing gear switch if configured and in a manual mode
@@ -2223,8 +2221,9 @@ Commander::run()
}
/* no else case: do not change lockdown flag in unconfigured case */
}
} else {
if (!_manual_control.isRCAvailable()) {
// set RC lost
if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost) {
// ignore RC lost during calibration