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commander: RC loss delay renaming/reordering

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This commit is contained in:
Matthias Grob
2021-01-18 17:04:05 +01:00
parent e2e5fc85f8
commit b44b770972
5 changed files with 24 additions and 22 deletions
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src/modules/commander/state_machine_helper.cpp
+3 -3
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@@ -409,7 +409,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
const offboard_loss_rc_actions_t offb_loss_rc_act,
const position_nav_loss_actions_t posctl_nav_loss_act,
const float param_com_ll_delay)
const float param_com_rcl_act_t)
{
const navigation_state_t nav_state_old = status->nav_state;
@@ -438,7 +438,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_ll_delay);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else {
switch (internal_state->main_state) {
@@ -474,7 +474,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_ll_delay);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
/* As long as there is RC, we can fallback to ALTCTL, or STAB. */
/* A local position estimate is enough for POSCTL for multirotors,