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Publish manual_sas_mode immediately, SAS modes switch order changed to more safe

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Anton Babushkin 2013-04-20 09:14:26 +04:00 committed by Anton Babushkin
parent 8191130bbc
commit d3eb86d0ea
1 changed files with 12 additions and 4 deletions
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16
src/modules/commander/commander.c
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@ -1389,6 +1389,7 @@ int commander_thread_main(int argc, char *argv[])
uint64_t start_time = hrt_absolute_time();
uint64_t failsave_ll_start_time = 0;
enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode;
bool state_changed = true;
bool param_init_forced = true;
@ -1828,8 +1829,9 @@ int commander_thread_main(int argc, char *argv[])
} else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) {
/* bottom stick position, set altitude hold */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE;
/* bottom stick position, set default */
/* this MUST be mapped to extremal position to switch easy in case of emergency */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
} else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) {
@ -1837,8 +1839,14 @@ int commander_thread_main(int argc, char *argv[])
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE;
} else {
/* center stick position, set default */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
/* center stick position, set altitude hold */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE;
}
if (current_status.manual_sas_mode != manual_sas_mode) {
/* publish SAS mode changes immediately */
manual_sas_mode = current_status.manual_sas_mode;
state_changed = true;
}
/*