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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/fw_att_control/fw_att_control_main.cpp
+3 -8
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@@ -1125,10 +1125,8 @@ FixedwingAttitudeControl::task_main()
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp)
&& !_vehicle_status.engine_failure) ? throttle_sp : 0.0f;
/* scale effort by battery status */
if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&
@@ -1169,10 +1167,7 @@ FixedwingAttitudeControl::task_main()
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
//!(_vehicle_status.engine_failure ||
!_vehicle_status.engine_failure_cmd) ?
throttle_sp : 0.0f;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
}
/*