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vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status

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Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent ae6377dfa0
commit e4bb219d10
30 changed files with 325 additions and 259 deletions
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src/modules/commander/failsafe/framework.cpp
+8 -8
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@@ -615,14 +615,14 @@ bool FailsafeBase::modeCanRun(const vehicle_status_flags_s &status_flags, uint8_
{
uint32_t mode_mask = 1u << mode;
return
(status_flags.angular_velocity_valid || ((status_flags.mode_req_angular_velocity & mode_mask) == 0)) &&
(status_flags.attitude_valid || ((status_flags.mode_req_attitude & mode_mask) == 0)) &&
(status_flags.local_position_valid || ((status_flags.mode_req_local_position & mode_mask) == 0)) &&
(status_flags.local_position_valid_relaxed || ((status_flags.mode_req_local_position_relaxed & mode_mask) == 0)) &&
(status_flags.global_position_valid || ((status_flags.mode_req_global_position & mode_mask) == 0)) &&
(status_flags.local_altitude_valid || ((status_flags.mode_req_local_alt & mode_mask) == 0)) &&
(status_flags.auto_mission_available || ((status_flags.mode_req_mission & mode_mask) == 0)) &&
(!status_flags.angular_velocity_invalid || ((status_flags.mode_req_angular_velocity & mode_mask) == 0)) &&
(!status_flags.attitude_invalid || ((status_flags.mode_req_attitude & mode_mask) == 0)) &&
(!status_flags.local_position_invalid || ((status_flags.mode_req_local_position & mode_mask) == 0)) &&
(!status_flags.local_position_invalid_relaxed || ((status_flags.mode_req_local_position_relaxed & mode_mask) == 0)) &&
(!status_flags.global_position_invalid || ((status_flags.mode_req_global_position & mode_mask) == 0)) &&
(!status_flags.local_altitude_invalid || ((status_flags.mode_req_local_alt & mode_mask) == 0)) &&
(!status_flags.auto_mission_missing || ((status_flags.mode_req_mission & mode_mask) == 0)) &&
(!status_flags.offboard_control_signal_lost || ((status_flags.mode_req_offboard_signal & mode_mask) == 0)) &&
(status_flags.home_position_valid || ((status_flags.mode_req_home_position & mode_mask) == 0)) &&
(!status_flags.home_position_invalid || ((status_flags.mode_req_home_position & mode_mask) == 0)) &&
((status_flags.mode_req_other & mode_mask) == 0);
}