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Enable rc mode change switch to override offboard mode. This is a safety feature, in case offboard control goes crazy, user can always regain control by switching modes to stabilize, or alt hold or position hold, however they have configured the mode change RC switch.

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This commit is contained in:
Chris Lovett
2017-01-18 02:56:34 -08:00
committed by Lorenz Meier
parent ec104bb7ac
commit 33a307873a
1 changed files with 3 additions and 6 deletions
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src/modules/commander/commander.cpp
+3 -6
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@@ -3249,12 +3249,9 @@ set_main_state_rc(struct vehicle_status_s *status_local)
/* set main state according to RC switches */
transition_result_t res = TRANSITION_DENIED;
// XXX this should not be necessary any more, we should be able to
// just delete this and respond to mode switches
/* if offboard is set already by a mavlink command, abort */
if (status_flags.offboard_control_set_by_command) {
return main_state_transition(status_local, commander_state_s::MAIN_STATE_OFFBOARD, main_state_prev, &status_flags, &internal_state);
}
// Note: even if status_flags.offboard_control_set_by_command is set
// we want to allow rc mode change to take precidence. This is a safety
// feature, just in case offboard control goes crazy.
/* manual setpoint has not updated, do not re-evaluate it */
if (((_last_sp_man.timestamp != 0) && (_last_sp_man.timestamp == sp_man.timestamp)) ||