diff options
| author | Anton Babushkin <rk3dov@gmail.com> | 2013-04-20 09:14:26 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-29 20:43:44 +0400 |
| commit | d3eb86d0ea000add6e2747fda58f77a88b05314c (patch) | |
| tree | 13732e8068aad5e3c4d4edb29320eb6a6ecfeac3 /src/modules | |
| parent | 8191130bbc8f2cbd53e69a7bcd1a4d4b1b2d68bb (diff) | |
| download | px4-firmware-d3eb86d0ea000add6e2747fda58f77a88b05314c.tar.gz px4-firmware-d3eb86d0ea000add6e2747fda58f77a88b05314c.tar.bz2 px4-firmware-d3eb86d0ea000add6e2747fda58f77a88b05314c.zip | |
Publish manual_sas_mode immediately, SAS modes switch order changed to more safe
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/commander.c | 16 |
1 files changed, 12 insertions, 4 deletions
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index aab8f3e04..bb8580328 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -1389,6 +1389,7 @@ int commander_thread_main(int argc, char *argv[]) uint64_t start_time = hrt_absolute_time(); uint64_t failsave_ll_start_time = 0; + enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; bool state_changed = true; bool param_init_forced = true; @@ -1828,8 +1829,9 @@ int commander_thread_main(int argc, char *argv[]) } else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) { - /* bottom stick position, set altitude hold */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; + /* bottom stick position, set default */ + /* this MUST be mapped to extremal position to switch easy in case of emergency */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; } else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) { @@ -1837,8 +1839,14 @@ int commander_thread_main(int argc, char *argv[]) current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE; } else { - /* center stick position, set default */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; + /* center stick position, set altitude hold */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; + } + + if (current_status.manual_sas_mode != manual_sas_mode) { + /* publish SAS mode changes immediately */ + manual_sas_mode = current_status.manual_sas_mode; + state_changed = true; } /* |