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commander delete unused rc_signal_lost_cmd

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This commit is contained in:
Daniel Agar
2017-12-20 17:55:26 -05:00
committed by Lorenz Meier
parent 5a6cde41d5
commit c0be801b5c
4 changed files with 3 additions and 18 deletions
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msg/vehicle_status_flags.msg
-2
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@@ -43,7 +43,6 @@ uint16 OFFBOARD_CONTROL_SIGNAL_WEAK_MASK = 8
uint16 OFFBOARD_CONTROL_SET_BY_COMMAND_MASK = 16
uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32
uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64
uint16 RC_SIGNAL_LOST_CMD_MASK = 128
uint16 RC_INPUT_BLOCKED_MASK = 256
uint16 DATA_LINK_LOST_CMD_MASK = 512
uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
@@ -57,7 +56,6 @@ uint16 GPS_FAILURE_MASK = 4096
# 0x0010 offboard_control_set_by_command: true if the offboard mode was set by a mavlink command and should not be overridden by RC
# 0x0020 offboard_control_loss_timeout: true if offboard is lost for a certain amount of time
# 0x0040 rc_signal_found_once
# 0x0080 rc_signal_lost_cmd: true if RC lost mode is commanded
# 0x0100 rc_input_blocked: set if RC input should be ignored temporarily
# 0x0200 data_link_lost_cmd: datalink to GCS lost mode commanded
# 0x0400 vtol_transition_failure: Set to true if vtol transition failed
src/modules/commander/commander.cpp
+2 -11
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@@ -960,7 +960,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
status_flags.data_link_lost_cmd = false;
status_flags.rc_signal_lost_cmd = false;
status_flags.vtol_transition_failure_cmd = false;
if ((int)cmd->param2 <= 0) {
@@ -977,11 +976,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
status_flags.data_link_lost_cmd = true;
warnx("data link loss mode commanded");
} else if ((int)cmd->param2 == 4) {
/* trigger rc loss mode */
status_flags.rc_signal_lost_cmd = true;
warnx("RC loss mode commanded");
} else if ((int)cmd->param2 == 5) {
/* trigger vtol transition failure mode */
status_flags.vtol_transition_failure_cmd = true;
@@ -2970,8 +2964,8 @@ Commander::run()
internal_state.main_state == commander_state_s::MAIN_STATE_STAB ||
internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status_flags.gps_failure) ||
(status_flags.rc_signal_lost_cmd))) {
((status.rc_signal_lost && status_flags.gps_failure))) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
@@ -4507,9 +4501,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
if (status_flags.rc_signal_found_once) {
v_flags.other_flags |= vehicle_status_flags_s::RC_SIGNAL_FOUND_ONCE_MASK;
}
if (status_flags.rc_signal_lost_cmd) {
v_flags.other_flags |= vehicle_status_flags_s::RC_SIGNAL_LOST_CMD_MASK;
}
if (status_flags.rc_input_blocked) {
v_flags.other_flags |= vehicle_status_flags_s::RC_INPUT_BLOCKED_MASK;
}
src/modules/commander/state_machine_helper.cpp
+1 -4
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@@ -584,7 +584,7 @@ bool set_nav_state(struct vehicle_status_s *status,
const bool data_link_loss_act_configured = data_link_loss_act > link_loss_actions_t::DISABLED;
const bool rc_loss_act_configured = rc_loss_act > link_loss_actions_t::DISABLED;
const bool rc_lost = rc_loss_act_configured && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd);
const bool rc_lost = rc_loss_act_configured && (status->rc_signal_lost);
bool is_armed = (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
@@ -675,9 +675,6 @@ bool set_nav_state(struct vehicle_status_s *status,
} else if (status_flags->data_link_lost_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
} else if (status_flags->rc_signal_lost_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status_flags->vtol_transition_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
src/modules/commander/state_machine_helper.h
-1
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@@ -103,7 +103,6 @@ struct status_flags_s {
bool offboard_control_set_by_command; // true if the offboard mode was set by a mavlink command and should not be overridden by RC
bool offboard_control_loss_timeout; // true if offboard is lost for a certain amount of time
bool rc_signal_found_once;
bool rc_signal_lost_cmd; // true if RC lost mode is commanded
bool rc_input_blocked; // set if RC input should be ignored temporarily
bool data_link_lost_cmd; // datalink to GCS lost mode commanded
bool vtol_transition_failure; // Set to true if vtol transition failed