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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/ManualControl.cpp
+2 -2
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@@ -101,7 +101,7 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
const bool arm_button_pressed = _param_arm_switch_is_button.get()
&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
const bool stick_in_lower_left = _manual_control_setpoint.r < -.9f
&& (_manual_control_setpoint.z < .1f)
&& isThrottleLow()
&& !arm_switch_or_button_mapped;
const bool arm_switch_to_disarm_transition = !_param_arm_switch_is_button.get()
&& (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_ON)
@@ -142,7 +142,7 @@ bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode,
const bool arm_button_pressed = _param_arm_switch_is_button.get()
&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
const bool stick_in_lower_right = _manual_control_setpoint.r > .9f
&& _manual_control_setpoint.z < 0.1f
&& isThrottleLow()
&& !arm_switch_or_button_mapped;
const bool arm_switch_to_arm_transition = !_param_arm_switch_is_button.get()