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Commander: Replace manual_control_setpoint use

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This commit is contained in:
Matthias Grob
2021-02-17 16:26:32 +01:00
parent 49c240f49e
commit c16b48fd2c
4 changed files with 11 additions and 14 deletions
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src/modules/commander/Commander.cpp
+5 -9
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@@ -426,18 +426,15 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
if (run_preflight_checks) {
if (_vehicle_control_mode.flag_control_manual_enabled) {
const bool throttle_above_low = (_manual_control_setpoint.z > 0.1f);
const bool throttle_above_center = (_manual_control_setpoint.z > 0.6f);
if (_vehicle_control_mode.flag_control_climb_rate_enabled && throttle_above_center) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied! Throttle not centered");
if (_vehicle_control_mode.flag_control_climb_rate_enabled && _manual_control.isThrottleAboveCenter()) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied because throttle above center");
tune_negative(true);
return TRANSITION_DENIED;
}
if (!_vehicle_control_mode.flag_control_climb_rate_enabled && throttle_above_low) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied! Throttle not zero");
if (!_vehicle_control_mode.flag_control_climb_rate_enabled && !_manual_control.isThrottleLow()) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied because of high throttle");
tune_negative(true);
return TRANSITION_DENIED;
}
@@ -2089,7 +2086,6 @@ Commander::run()
_manual_control.setRCAllowed(!_status_flags.rc_input_blocked);
_manual_control.update();
_manual_control_setpoint = _manual_control._manual_control_setpoint;
// abort autonomous mode and switch to position mode if sticks are moved significantly
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
@@ -2235,7 +2231,7 @@ Commander::run()
if (!_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) {
mavlink_log_critical(&_mavlink_log_pub, "Manual control lost");
_status.rc_signal_lost = true;
_rc_signal_lost_timestamp = _manual_control_setpoint.timestamp;
_rc_signal_lost_timestamp = _manual_control.getLastRCTimestamp();
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, _status);
_status_changed = true;
}