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Handle waypoint altitude acceptance radius for boats (#20508)

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This corrects the waypoint handling logic to include boat type vehicles
This commit is contained in:
JaeyoungLim
2022-10-31 09:13:13 +01:00
committed by GitHub
parent 21f49ff5be
commit 3f5d7f38cd
3 changed files with 2 additions and 14 deletions
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src/modules/commander/Commander.cpp
+1 -1
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@@ -1575,7 +1575,7 @@ void Commander::updateParameters()
&& _vtol_vehicle_status.vehicle_vtol_state != vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
const bool is_fixed = is_fixed_wing(_vehicle_status) || (is_vtol(_vehicle_status)
&& _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
const bool is_ground = is_ground_rover(_vehicle_status);
const bool is_ground = is_ground_vehicle(_vehicle_status);
/* disable manual override for all systems that rely on electronic stabilization */
if (is_rotary) {
src/modules/commander/commander_helper.cpp
+1 -11
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@@ -118,19 +118,9 @@ bool is_fixed_wing(const vehicle_status_s &current_status)
return current_status.system_type == VEHICLE_TYPE_FIXED_WING;
}
bool is_ground_rover(const vehicle_status_s &current_status)
{
return current_status.system_type == VEHICLE_TYPE_GROUND_ROVER;
}
bool is_boat(const vehicle_status_s &current_status)
{
return current_status.system_type == VEHICLE_TYPE_BOAT;
}
bool is_ground_vehicle(const vehicle_status_s &current_status)
{
return is_ground_rover(current_status) || is_boat(current_status);
return (current_status.system_type == VEHICLE_TYPE_BOAT || current_status.system_type == VEHICLE_TYPE_GROUND_ROVER);
}
// End time for currently blinking LED message, 0 if no blink message
src/modules/commander/commander_helper.h
-2
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@@ -55,8 +55,6 @@ bool is_rotary_wing(const vehicle_status_s &current_status);
bool is_vtol(const vehicle_status_s &current_status);
bool is_vtol_tailsitter(const vehicle_status_s &current_status);
bool is_fixed_wing(const vehicle_status_s &current_status);
bool is_ground_rover(const vehicle_status_s &current_status);
bool is_boat(const vehicle_status_s &current_status);
bool is_ground_vehicle(const vehicle_status_s &current_status);
int buzzer_init(void);