fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 15:17:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: add config overrides

Browse Source
This commit is contained in:
Beat Küng
2022-11-29 10:56:31 +01:00
parent 889b6a1a78
commit b46e1d744b
9 changed files with 126 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+22 -2
View File
@@ -2200,8 +2200,10 @@ void Commander::handleAutoDisarm()
const bool landed_amid_mission = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)
&& !_mission_result_sub.get().finished;
const bool auto_disarm_land_enabled = _param_com_disarm_land.get() > 0 && !landed_amid_mission
&& !_config_overrides.disable_auto_disarm;
if (_param_com_disarm_land.get() > 0 && _have_taken_off_since_arming && !landed_amid_mission) {
if (auto_disarm_land_enabled && _have_taken_off_since_arming) {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s);
_auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time());
@@ -2253,6 +2255,7 @@ bool Commander::handleModeIntentionAndFailsafe()
{
const uint8_t prev_nav_state = _vehicle_status.nav_state;
const FailsafeBase::Action prev_failsafe_action = _failsafe.selectedAction();
const uint8_t prev_failsafe_defer_state = _vehicle_status.failsafe_defer_state;
FailsafeBase::State state{};
state.armed = isArmed();
@@ -2303,7 +2306,24 @@ bool Commander::handleModeIntentionAndFailsafe()
_vehicle_status.nav_state_timestamp = hrt_absolute_time();
}
return prev_nav_state != _vehicle_status.nav_state || prev_failsafe_action != _failsafe.selectedAction();
_mode_management.updateActiveConfigOverrides(_vehicle_status.nav_state, _config_overrides);
// Apply failsafe deferring & get the current state
_failsafe.deferFailsafes(_config_overrides.defer_failsafes, _config_overrides.defer_failsafes_timeout_s);
if (_failsafe.failsafeDeferred()) {
_vehicle_status.failsafe_defer_state = vehicle_status_s::FAILSAFE_DEFER_STATE_WOULD_FAILSAFE;
} else if (_failsafe.getDeferFailsafes()) {
_vehicle_status.failsafe_defer_state = vehicle_status_s::FAILSAFE_DEFER_STATE_ENABLED;
} else {
_vehicle_status.failsafe_defer_state = vehicle_status_s::FAILSAFE_DEFER_STATE_DISABLED;
}
return prev_nav_state != _vehicle_status.nav_state ||
prev_failsafe_action != _failsafe.selectedAction() ||
prev_failsafe_defer_state != _vehicle_status.failsafe_defer_state;
}
void Commander::checkAndInformReadyForTakeoff()