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Commander: reevaluate RC mode on altitude lock

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Matthias Grob
2019-04-29 09:19:05 +02:00
committed by Daniel Agar
parent f032d0d9fc
commit 56591954ad
1 changed files with 4 additions and 0 deletions
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src/modules/commander/Commander.cpp
+4
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@@ -165,6 +165,7 @@ static uint64_t rc_signal_lost_timestamp; // Time at which the RC reception was
static uint8_t arm_requirements = ARM_REQ_NONE;
static bool _last_condition_local_altitude_valid = false;
static bool _last_condition_global_position_valid = false;
static struct vehicle_land_detected_s land_detector = {};
@@ -2085,6 +2086,7 @@ Commander::run()
transition_result_t main_res = set_main_state(status, &status_changed);
/* store last position lock state */
_last_condition_local_altitude_valid = status_flags.condition_local_altitude_valid;
_last_condition_global_position_valid = status_flags.condition_global_position_valid;
/* play tune on mode change only if armed, blink LED always */
@@ -2730,6 +2732,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
// we want to allow rc mode change to take precidence. This is a safety
// feature, just in case offboard control goes crazy.
const bool altitude_got_valid = !_last_condition_local_altitude_valid && status_flags.condition_local_altitude_valid;
const bool position_got_valid = !_last_condition_global_position_valid && status_flags.condition_global_position_valid;
const bool first_time_rc = _last_sp_man.timestamp == 0;
const bool rc_values_updated = _last_sp_man.timestamp != sp_man.timestamp;
@@ -2747,6 +2750,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
// only switch mode based on RC switch if necessary to also allow mode switching via MAVLink
const bool should_evaluate_rc_mode_switch = first_time_rc
|| altitude_got_valid
|| position_got_valid
|| (rc_values_updated && some_switch_changed);