Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-06 06:43:21 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

Add paramter to enable rc stick override

Browse Source
This commit is contained in:
Sander Smeets
2017-04-12 02:22:46 +02:00
committed by Lorenz Meier
parent ff3994da1b
commit 128f726cd9
2 changed files with 16 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+8 -2
View File
@@ -1308,6 +1308,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_offboard_loss_timeout = param_find("COM_OF_LOSS_T");
param_t _param_arm_without_gps = param_find("COM_ARM_WO_GPS");
param_t _param_arm_switch_is_button = param_find("COM_ARM_SWISBTN");
param_t _param_rc_override = param_find("COM_RC_OVERRIDE");
param_t _param_fmode_1 = param_find("COM_FLTMODE1");
param_t _param_fmode_2 = param_find("COM_FLTMODE2");
@@ -1692,6 +1693,10 @@ int commander_thread_main(int argc, char *argv[])
int32_t geofence_action = 0;
/* RC override auto modes */
int32_t rc_override = 0;
/* Thresholds for engine failure detection */
int32_t ef_throttle_thres = 1.0f;
int32_t ef_current2throttle_thres = 0.0f;
@@ -1775,6 +1780,7 @@ int commander_thread_main(int argc, char *argv[])
status.rc_input_mode = rc_in_off;
param_get(_param_rc_arm_hyst, &rc_arm_hyst);
param_get(_param_min_stick_change, &min_stick_change);
param_get(_param_rc_override, &rc_override);
// percentage (* 0.01) needs to be doubled because RC total interval is 2, not 1
min_stick_change *= 0.02f;
rc_arm_hyst *= COMMANDER_MONITORING_LOOPSPERMSEC;
@@ -2511,7 +2517,7 @@ int commander_thread_main(int argc, char *argv[])
// revert geofence failsafe transition if sticks are moved and we were previously in a manual mode
// but only if not in a low battery handling action
if (!critical_battery_voltage_actions_done && (warning_action_on &&
if (rc_override != 0 && !critical_battery_voltage_actions_done && (warning_action_on &&
(main_state_before_rtl == commander_state_s::MAIN_STATE_MANUAL ||
main_state_before_rtl == commander_state_s::MAIN_STATE_ALTCTL ||
main_state_before_rtl == commander_state_s::MAIN_STATE_POSCTL ||
@@ -2534,7 +2540,7 @@ int commander_thread_main(int argc, char *argv[])
// abort landing or auto or loiter if sticks are moved significantly
// but only if not in a low battery handling action
if (!critical_battery_voltage_actions_done &&
if (rc_override != 0 && !critical_battery_voltage_actions_done &&
(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER)) {
src/modules/commander/commander_params.c
+8
View File
@@ -586,3 +586,11 @@ PARAM_DEFINE_FLOAT(COM_ARM_IMU_ACC, 0.7f);
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.15f);
/**
* Enable RC stick override of auto modes
*
* @boolean
* @group Commander
*/
PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 0);