From d0fba8bf8bdd873f00ce82bbf0a5fc970ca027f2 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 20 Dec 2017 17:56:41 -0500 Subject: [PATCH] commander delete unused data_link_lost_cmd --- msg/vehicle_status_flags.msg | 2 -- src/modules/commander/commander.cpp | 13 ++----------- src/modules/commander/state_machine_helper.cpp | 3 --- src/modules/commander/state_machine_helper.h | 1 - 4 files changed, 2 insertions(+), 17 deletions(-) diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg index 5d32723221..7810554387 100644 --- a/msg/vehicle_status_flags.msg +++ b/msg/vehicle_status_flags.msg @@ -44,7 +44,6 @@ uint16 OFFBOARD_CONTROL_SET_BY_COMMAND_MASK = 16 uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32 uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64 uint16 RC_INPUT_BLOCKED_MASK = 256 -uint16 DATA_LINK_LOST_CMD_MASK = 512 uint16 VTOL_TRANSITION_FAILURE_MASK = 1024 uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048 uint16 GPS_FAILURE_MASK = 4096 @@ -57,7 +56,6 @@ uint16 GPS_FAILURE_MASK = 4096 # 0x0020 offboard_control_loss_timeout: true if offboard is lost for a certain amount of time # 0x0040 rc_signal_found_once # 0x0100 rc_input_blocked: set if RC input should be ignored temporarily -# 0x0200 data_link_lost_cmd: datalink to GCS lost mode commanded # 0x0400 vtol_transition_failure: Set to true if vtol transition failed # 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded # 0x1000 gps_failure: Set to true if a gps failure is detected diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index adc58215b6..ad4973a34b 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -959,7 +959,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety /* param2 is currently used for other failsafe modes */ status_local->engine_failure_cmd = false; - status_flags.data_link_lost_cmd = false; status_flags.vtol_transition_failure_cmd = false; if ((int)cmd->param2 <= 0) { @@ -971,11 +970,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety status_local->engine_failure_cmd = true; warnx("engine failure mode commanded"); - } else if ((int)cmd->param2 == 2) { - /* trigger data link loss mode */ - status_flags.data_link_lost_cmd = true; - warnx("data link loss mode commanded"); - } else if ((int)cmd->param2 == 5) { /* trigger vtol transition failure mode */ status_flags.vtol_transition_failure_cmd = true; @@ -2939,8 +2933,8 @@ Commander::run() internal_state.main_state != commander_state_s::MAIN_STATE_STAB && internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL && internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL && - ((status.data_link_lost && status_flags.gps_failure) || - (status_flags.data_link_lost_cmd))) { + ((status.data_link_lost && status_flags.gps_failure))) { + armed.force_failsafe = true; status_changed = true; static bool flight_termination_printed = false; @@ -4504,9 +4498,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status if (status_flags.rc_input_blocked) { v_flags.other_flags |= vehicle_status_flags_s::RC_INPUT_BLOCKED_MASK; } - if (status_flags.data_link_lost_cmd) { - v_flags.other_flags |= vehicle_status_flags_s::DATA_LINK_LOST_CMD_MASK; - } if (status_flags.vtol_transition_failure) { v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_MASK; } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index d39b3965ad..0a81cbd65e 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -672,9 +672,6 @@ bool set_nav_state(struct vehicle_status_s *status, if (status->engine_failure_cmd) { status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; - } else if (status_flags->data_link_lost_cmd) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS; - } else if (status_flags->vtol_transition_failure_cmd) { status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index dd76eb8142..7a20b58433 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -104,7 +104,6 @@ struct status_flags_s { bool offboard_control_loss_timeout; // true if offboard is lost for a certain amount of time bool rc_signal_found_once; bool rc_input_blocked; // set if RC input should be ignored temporarily - bool data_link_lost_cmd; // datalink to GCS lost mode commanded bool vtol_transition_failure; // Set to true if vtol transition failed bool vtol_transition_failure_cmd; // Set to true if vtol transition failure mode is commanded bool gps_failure; // Set to true if a gps failure is detected