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This commit is contained in:
Matthias Grob
2025-02-12 11:10:28 +01:00
committed by Tomas Twardzik
parent 18d823f9e3
commit f419124e28
2 changed files with 8 additions and 5 deletions
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src/modules/commander/Commander.cpp
+6 -5
View File
@@ -574,10 +574,10 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
if ((!_failsafe_flags.manual_control_signal_lost) &&
((!_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_is_throttle_low) ||
((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER ||
_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT) &&
!_is_throttle_near_center))) {
!_is_throttle_low) ||
((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER ||
_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT) &&
!_is_throttle_near_center))) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t");
events::send(events::ID("commander_arm_denied_throttle_high"), {events::Log::Critical, events::LogInternal::Info},
@@ -1740,6 +1740,7 @@ void Commander::updateParameters()
} else if (is_rover) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
} else if (is_boat) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_BOAT;
}
@@ -2943,7 +2944,7 @@ void Commander::manualControlCheck()
if (manual_control_setpoint.sticks_moving
&& !_vehicle_control_mode.flag_control_manual_enabled
&& (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ||
_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT)
_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT)
) {
bool override_enabled = false;
src/modules/navigator/navigator_main.cpp
+2
View File
@@ -1139,8 +1139,10 @@ float Navigator::get_altitude_acceptance_radius()
} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
return INFINITY;
} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT) {
return INFINITY;
} else {
float alt_acceptance_radius = _param_nav_mc_alt_rad.get();