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commander: fix switch to ALTCTL when RC regained

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This fixes the case where we sometimes switch to altitude control
instead of position control when RC is regained.

What happens is that we detect that the pilot wants to take over control
right when RC comes back. This means that we try to go in position
control in main_state_transition, however, we are already in position
control because we come back from the failsafe state. The result of
main_state_transition is then TRANSITION_NOT_CHANGED, and therefore we
"fall back" to altitude control even though being already in position
control would have been fine.

This fix checks the return result of main_state_transition correctly and
only reacts to TRANSITION_CHANGED and TRANSITION_DENIED but ignores
TRANSITION_NOT_CHANGED.
This commit is contained in:
Julian Oes
2021-07-29 17:13:11 +02:00
parent 51758bd7e6
commit 6b8840a01b
1 changed files with 16 additions and 9 deletions
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src/modules/commander/Commander.cpp
+16 -9
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@@ -2392,21 +2392,28 @@ Commander::run()
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on
&& _manual_control.wantsOverride(_vehicle_control_mode, _status)) {
if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
_internal_state) == TRANSITION_CHANGED) {
const transition_result_t posctl_result =
main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);
if (posctl_result == TRANSITION_CHANGED) {
tune_positive(true);
mavlink_log_info(&_mavlink_log_pub, "Pilot took over position control using sticks\t");
events::send(events::ID("commander_rc_override_pos"), events::Log::Info,
"Pilot took over position control using sticks");
_status_changed = true;
} else if (main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags,
_internal_state) == TRANSITION_CHANGED) {
tune_positive(true);
mavlink_log_info(&_mavlink_log_pub, "Pilot took over altitude control using sticks\t");
events::send(events::ID("commander_rc_override_alt"), events::Log::Info,
"Pilot took over altitude control using sticks");
_status_changed = true;
} else if (posctl_result == TRANSITION_DENIED) {
// If transition to POSCTL was denied, then we can try again with ALTCTL.
const transition_result_t altctl_result =
main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags, _internal_state);
if (altctl_result == TRANSITION_CHANGED) {
tune_positive(true);
mavlink_log_info(&_mavlink_log_pub, "Pilot took over altitude control using sticks\t");
events::send(events::ID("commander_rc_override_alt"), events::Log::Info,
"Pilot took over altitude control using sticks");
_status_changed = true;
}
}
}