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commander delete unused data_link_lost_cmd

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This commit is contained in:
Daniel Agar
2017-12-27 02:41:10 +08:00
committed by Lorenz Meier
parent c0be801b5c
commit d0fba8bf8b
4 changed files with 2 additions and 17 deletions
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msg/vehicle_status_flags.msg
-2
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@@ -44,7 +44,6 @@ uint16 OFFBOARD_CONTROL_SET_BY_COMMAND_MASK = 16
uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32 uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32
uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64 uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64
uint16 RC_INPUT_BLOCKED_MASK = 256 uint16 RC_INPUT_BLOCKED_MASK = 256
uint16 DATA_LINK_LOST_CMD_MASK = 512
uint16 VTOL_TRANSITION_FAILURE_MASK = 1024 uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048 uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048
uint16 GPS_FAILURE_MASK = 4096 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 # 0x0020 offboard_control_loss_timeout: true if offboard is lost for a certain amount of time
# 0x0040 rc_signal_found_once # 0x0040 rc_signal_found_once
# 0x0100 rc_input_blocked: set if RC input should be ignored temporarily # 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 # 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 # 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 # 0x1000 gps_failure: Set to true if a gps failure is detected
src/modules/commander/commander.cpp
+2 -11
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@@ -959,7 +959,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
/* param2 is currently used for other failsafe modes */ /* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false; status_local->engine_failure_cmd = false;
status_flags.data_link_lost_cmd = false;
status_flags.vtol_transition_failure_cmd = false; status_flags.vtol_transition_failure_cmd = false;
if ((int)cmd->param2 <= 0) { 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; status_local->engine_failure_cmd = true;
warnx("engine failure mode commanded"); 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) { } else if ((int)cmd->param2 == 5) {
/* trigger vtol transition failure mode */ /* trigger vtol transition failure mode */
status_flags.vtol_transition_failure_cmd = true; 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_STAB &&
internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL && internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL &&
internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL && internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL &&
((status.data_link_lost && status_flags.gps_failure) || ((status.data_link_lost && status_flags.gps_failure))) {
(status_flags.data_link_lost_cmd))) {
armed.force_failsafe = true; armed.force_failsafe = true;
status_changed = true; status_changed = true;
static bool flight_termination_printed = false; 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) { if (status_flags.rc_input_blocked) {
v_flags.other_flags |= vehicle_status_flags_s::RC_INPUT_BLOCKED_MASK; 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) { if (status_flags.vtol_transition_failure) {
v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_MASK; v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_MASK;
} }
src/modules/commander/state_machine_helper.cpp
-3
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@@ -672,9 +672,6 @@ bool set_nav_state(struct vehicle_status_s *status,
if (status->engine_failure_cmd) { if (status->engine_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; 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) { } else if (status_flags->vtol_transition_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
src/modules/commander/state_machine_helper.h
-1
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@@ -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 offboard_control_loss_timeout; // true if offboard is lost for a certain amount of time
bool rc_signal_found_once; bool rc_signal_found_once;
bool rc_input_blocked; // set if RC input should be ignored temporarily 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; // Set to true if vtol transition failed
bool vtol_transition_failure_cmd; // Set to true if vtol transition failure mode is commanded 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 bool gps_failure; // Set to true if a gps failure is detected