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mode_requirements: add manual control for manual modes

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This commit is contained in:
Matthias Grob
2023-03-08 09:32:56 +01:00
committed by Beat Küng
parent 636dfdec6a
commit f498b90c41
4 changed files with 23 additions and 0 deletions
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src/modules/commander/ModeUtil/mode_requirements.cpp
+6
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@@ -56,19 +56,23 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
flags.mode_req_home_position = 0;
flags.mode_req_wind_and_flight_time_compliance = 0;
flags.mode_req_prevent_arming = 0;
flags.mode_req_manual_control = 0;
flags.mode_req_other = 0;
// NAVIGATION_STATE_MANUAL
setRequirement(vehicle_status_s::NAVIGATION_STATE_MANUAL, flags.mode_req_manual_control);
// NAVIGATION_STATE_ALTCTL
setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_manual_control);
// NAVIGATION_STATE_POSCTL
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_position_relaxed);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_manual_control);
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_global_position);
@@ -104,6 +108,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
// NAVIGATION_STATE_ACRO
setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_manual_control);
// NAVIGATION_STATE_DESCEND
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_angular_velocity);
@@ -122,6 +127,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
// NAVIGATION_STATE_STAB
setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_manual_control);
// NAVIGATION_STATE_AUTO_TAKEOFF
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_angular_velocity);