Mirrors_Framework/PX4-Autopilot
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commander: remove calibration_enabled

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This flag is not used anywhere, it therefore doesn't need to be in
vehicle_status.
This commit is contained in:
Julian Oes
2016-02-25 07:56:28 +00:00
parent fe85841a1d
commit 181eb49da8
2 changed files with 5 additions and 4 deletions
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msg/vehicle_status.msg
-1
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@@ -65,7 +65,6 @@ uint8 nav_state # set navigation state machine to specified value
uint8 arming_state # current arming state uint8 arming_state # current arming state
uint8 hil_state # current hil state uint8 hil_state # current hil state
bool failsafe # true if system is in failsafe state bool failsafe # true if system is in failsafe state
bool calibration_enabled # true if current calibrating parts of the system. Also sets the system to ARMING_STATE_INIT.
uint8 system_type # system type, contains mavlink MAV_TYPE uint8 system_type # system type, contains mavlink MAV_TYPE
uint32 system_id # system id, contains MAVLink's system ID field uint32 system_id # system id, contains MAVLink's system ID field
src/modules/commander/commander.cpp
+5 -3
View File
@@ -225,6 +225,8 @@ static bool circuit_breaker_engaged_enginefailure_check;
static bool circuit_breaker_engaged_gpsfailure_check; static bool circuit_breaker_engaged_gpsfailure_check;
static bool cb_usb; static bool cb_usb;
static bool calibration_enabled = false;
/** /**
* The daemon app only briefly exists to start * The daemon app only briefly exists to start
* the background job. The stack size assigned in the * the background job. The stack size assigned in the
@@ -2047,7 +2049,7 @@ int commander_thread_main(int argc, char *argv[])
} }
/* If in INIT state, try to proceed to STANDBY state */ /* If in INIT state, try to proceed to STANDBY state */
if (!status.calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) { if (!calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
arming_ret = arming_state_transition(&status, arming_ret = arming_state_transition(&status,
&safety, &safety,
vehicle_status_s::ARMING_STATE_STANDBY, vehicle_status_s::ARMING_STATE_STANDBY,
@@ -3548,7 +3550,7 @@ void *commander_low_prio_loop(void *arg)
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub, command_ack); answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub, command_ack);
break; break;
} else { } else {
status.calibration_enabled = true; calibration_enabled = true;
} }
if ((int)(cmd.param1) == 1) { if ((int)(cmd.param1) == 1) {
@@ -3609,7 +3611,7 @@ void *commander_low_prio_loop(void *arg)
calib_ret = OK; calib_ret = OK;
} }
status.calibration_enabled = false; calibration_enabled = false;
if (calib_ret == OK) { if (calib_ret == OK) {
tune_positive(true); tune_positive(true);