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vehicle_status delete engine_failure_cmd

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This commit is contained in:
Daniel Agar
2017-12-27 02:41:10 +08:00
committed by Lorenz Meier
parent 17e17d79dd
commit fc7c8b4b89
5 changed files with 5 additions and 23 deletions
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src/modules/commander/commander.cpp
-8
View File
@@ -957,17 +957,9 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
armed_local->force_failsafe = true;
warnx("forcing failsafe (termination)");
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
if ((int)cmd->param2 <= 0) {
/* reset all commanded failure modes */
warnx("reset all non-flighttermination failsafe commands");
} else if ((int)cmd->param2 == 1) {
/* trigger engine failure mode */
status_local->engine_failure_cmd = true;
warnx("engine failure mode commanded");
}
} else {
src/modules/commander/state_machine_helper.cpp
+1 -5
View File
@@ -668,11 +668,7 @@ bool set_nav_state(struct vehicle_status_s *status,
* - if we have vtol transition failure
* - depending on datalink, RC and if the mission is finished */
/* first look at the commands */
if (status->engine_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure) {
if (status_flags->gps_failure) {
if (status->is_rotary_wing) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;