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commander: Reset nav test when vehicle is disarmed

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Previously, the only way to clear a failed nav test was to reboot. This hindered testing.
This commit is contained in:
Paul Riseborough
2017-12-04 13:15:50 +11:00
committed by Lorenz Meier
parent d783bc8ae1
commit fa5010109e
1 changed files with 7 additions and 3 deletions
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src/modules/commander/commander.cpp
+7 -3
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@@ -2193,9 +2193,13 @@ int commander_thread_main(int argc, char *argv[])
orb_check(estimator_status_sub, &estimator_status_updated);
if (estimator_status_updated) {
orb_copy(ORB_ID(estimator_status), estimator_status_sub, &estimator_status);
// record time of takeoff
if (land_detector.landed) {
if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
// reset flags and timer
time_at_takeoff = hrt_absolute_time();
nav_test_failed = false;
nav_test_passed = false;
} else if (land_detector.landed) {
// record time of takeoff
time_at_takeoff = hrt_absolute_time();
} else {
// if nav status is unconfirmed, confirm yaw angle as passed after 30 seconds or achieving 5 m/s of speed