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Bring back RC throttle override with a parameter to disable it

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This commit is contained in:
Julian Kent
2020-11-19 11:10:10 +01:00
committed by Matthias Grob
parent b7ff54b034
commit cdadfabccc
3 changed files with 13 additions and 8 deletions
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src/modules/commander/Commander.cpp
+7 -3
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@@ -2107,10 +2107,14 @@ Commander::run()
if ((override_auto_mode || override_offboard_mode) && !in_low_battery_failsafe && !_geofence_warning_action_on) {
const float minimum_stick_deflection = 0.01f * _param_com_rc_stick_ov.get();
if (!_status.rc_signal_lost &&
((fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
(fabsf(_manual_control_setpoint.y) > minimum_stick_deflection))) {
const bool rpy_deflected = (fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
(fabsf(_manual_control_setpoint.y) > minimum_stick_deflection)
|| (fabsf(_manual_control_setpoint.r) > minimum_stick_deflection);
const bool throttle_deflected = fabsf(_manual_control_setpoint.z - 0.5f) * 2.f > minimum_stick_deflection;
const bool use_throttle = !(_param_rc_override.get() & OVERRIDE_IGNORE_THROTTLE_BIT);
if (!_status.rc_signal_lost &&
(rpy_deflected || (use_throttle && throttle_deflected))) {
if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
&_internal_state) == TRANSITION_CHANGED) {
tune_positive(true);