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commander: don't set RC lost during calibration

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This commit is contained in:
Daniel Agar
2020-08-19 12:40:10 -04:00
parent 5242160a26
commit f6ad9bdb64
1 changed files with 14 additions and 8 deletions
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src/modules/commander/Commander.cpp
+14 -8
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@@ -1482,8 +1482,6 @@ Commander::run()
#endif // BOARD_HAS_POWER_CONTROL
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
offboard_control_update();
if (_system_power_sub.updated()) {
@@ -1770,6 +1768,10 @@ Commander::run()
}
}
// update manual_control_setpoint before geofence (which might check sticks or switches)
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
/* start geofence result check */
_geofence_result_sub.update(&_geofence_result);
@@ -2107,12 +2109,16 @@ Commander::run()
/* no else case: do not change lockdown flag in unconfigured case */
} else {
if (!status_flags.rc_input_blocked && !status.rc_signal_lost && status_flags.rc_signal_found_once) {
mavlink_log_critical(&mavlink_log_pub, "Manual control lost");
status.rc_signal_lost = true;
_rc_signal_lost_timestamp = _manual_control_setpoint.timestamp;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, status);
_status_changed = true;
// set RC lost
if (status_flags.rc_signal_found_once && !status.rc_signal_lost) {
// ignore RC lost during calibration
if (!status_flags.condition_calibration_enabled && !status_flags.rc_input_blocked) {
mavlink_log_critical(&mavlink_log_pub, "Manual control lost");
status.rc_signal_lost = true;
_rc_signal_lost_timestamp = _manual_control_setpoint.timestamp;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, status);
_status_changed = true;
}
}
}