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commander: only override according to param

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This got lost in the refactor earlier.
This commit is contained in:
Julian Oes
2021-05-18 11:30:01 +02:00
committed by Matthias Grob
parent 56b2b81600
commit 2e9edfcd89
2 changed files with 16 additions and 2 deletions
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src/modules/commander/Commander.cpp
+8 -1
View File
@@ -2407,13 +2407,20 @@ Commander::run()
} }
const bool override_enabled =
((_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::AUTO_MODE_BIT))
&& _vehicle_control_mode.flag_control_auto_enabled)
|| ((_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::OFFBOARD_MODE_BIT))
&& _vehicle_control_mode.flag_control_offboard_enabled);
// Abort autonomous mode and switch to position mode if sticks are moved significantly // Abort autonomous mode and switch to position mode if sticks are moved significantly
// but only if actually in air. // but only if actually in air.
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on && !in_low_battery_failsafe && !_geofence_warning_action_on
&& _armed.armed && _armed.armed
&& !_status_flags.rc_input_blocked && !_status_flags.rc_input_blocked
&& manual_control_setpoint.user_override) { && manual_control_setpoint.user_override
&& override_enabled) {
const transition_result_t posctl_result = const transition_result_t posctl_result =
main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state); main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);
src/modules/commander/Commander.hpp
+8 -1
View File
@@ -186,6 +186,8 @@ private:
(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act, (ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t, (ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_com_rc_override,
(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t, (ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t, (ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
@@ -255,7 +257,7 @@ private:
(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr, (ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming, (ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
// Geofrence // Geofence
(ParamInt<px4::params::GF_ACTION>) _param_geofence_action, (ParamInt<px4::params::GF_ACTION>) _param_geofence_action,
// Mavlink // Mavlink
@@ -275,6 +277,11 @@ private:
ALWAYS = 2 ALWAYS = 2
}; };
enum class RcOverrideBits : int32_t {
AUTO_MODE_BIT = (1 << 0),
OFFBOARD_MODE_BIT = (1 << 1),
};
/* Decouple update interval and hysteresis counters, all depends on intervals */ /* Decouple update interval and hysteresis counters, all depends on intervals */
static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms}; static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};