Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 18:47:21 +08:00
Code Issues Actions 20 Packages Projects Releases Wiki Activity

commander: fix enable_failsafe reason (#19391)

Browse Source 
- In this case, no action is configured for datalink lost. Action is configured for RC lost.
 - In case of no data link and no rc failsafe is enabled but reporting a "no_datalink" reason but "no_rc_and_no_datalink" seems more explicit.
This commit is contained in:
Nicolas MARTIN
2022-04-09 20:30:49 +02:00
committed by GitHub
parent 091fca701e
commit eb1bb4335b
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/state_machine_helper.cpp
+3 -3
View File
@@ -412,7 +412,7 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
// All links lost, no data link loss reaction configured -> immediately do RC loss reaction
// Lost all communication, by default it's considered unsafe to continue the mission
// This is only reached when flying mission completely without RC (it was not present since boot)
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc_and_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else if (status.rc_signal_lost && (param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_MISSION)
@@ -462,7 +462,7 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
// All links lost, no data link loss reaction configured -> immediately do RC loss reaction
// Lost all communication, by default it's considered unsafe to continue the mission
// This is only reached when flying mission completely without RC (it was not present since boot)
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc_and_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else {
@@ -578,7 +578,7 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
// All links lost, no data link loss reaction configured -> immediately do RC loss reaction
// Lost all communication, by default it's considered unsafe to continue the mission
// This is only reached when flying mission completely without RC (it was not present since boot)
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc_and_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else {