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Commander: move rc availability to ManualControl

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This commit is contained in:
Matthias Grob
2021-02-16 10:40:22 +01:00
parent 0e1f1a9f57
commit ee2d408edc
4 changed files with 23 additions and 12 deletions
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src/modules/commander/Commander.cpp
+7 -7
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@@ -1991,9 +1991,6 @@ Commander::run()
}
}
_manual_control.update();
_manual_control_setpoint = _manual_control._manual_control_setpoint;
/* start geofence result check */
_geofence_result_sub.update(&_geofence_result);
@@ -2095,10 +2092,14 @@ Commander::run()
_geofence_violated_prev = false;
}
_manual_control.setRCAllowed(!_status_flags.rc_input_blocked);
_manual_control.update();
_manual_control_setpoint = _manual_control._manual_control_setpoint;
// abort autonomous mode and switch to position mode if sticks are moved significantly
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on
&& _manual_control.wantsOverride(_vehicle_control_mode, !_status.rc_signal_lost)) {
&& _manual_control.wantsOverride(_vehicle_control_mode)) {
if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
&_internal_state) == TRANSITION_CHANGED) {
tune_positive(true);
@@ -2124,9 +2125,9 @@ Commander::run()
}
}
/* RC input check */
if (!_status_flags.rc_input_blocked && _manual_control_setpoint.timestamp != 0 &&
(hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s))) {
if (_manual_control.isRCAvailable()) {
/* handle the case where RC signal was regained */
if (!_status_flags.rc_signal_found_once) {
@@ -2687,7 +2688,6 @@ Commander::run()
_last_condition_global_position_valid = _status_flags.condition_global_position_valid;
_was_armed = _armed.armed;
_last_manual_control_setpoint = _manual_control_setpoint;
arm_auth_update(now, params_updated || param_init_forced);