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state_machine_helper: allow takeoff and hold without any link

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Matthias Grob
2021-06-23 15:37:02 +02:00
parent 15096ead5f
commit 055c9db178
1 changed files with 0 additions and 16 deletions
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src/modules/commander/state_machine_helper.cpp
-16
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@@ -598,14 +598,6 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else if (status.rc_signal_lost && (param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status.data_link_lost && !data_link_loss_act_configured
&& is_armed && !landed) {
// All links lost, all link loss reactions disabled -> return
// Pilot disabled all reactions, return to avoid lost vehicle
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc_and_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_actions_t::AUTO_RTL, 0);
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
}
@@ -716,14 +708,6 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else if (status.rc_signal_lost && (param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status.data_link_lost && !data_link_loss_act_configured
&& is_armed && !landed) {
// All links lost, all link loss reactions disabled -> return
// Pilot disabled all reactions, return to avoid lost vehicle
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc_and_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_actions_t::AUTO_RTL, 0);
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;
}