diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-23 14:02:22 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-23 14:02:22 +0200 |
| commit | 3c10b78e2044ec2cbe36d4de35c7ac8a936521ae (patch) | |
| tree | c539ade848becad4cb4c294c3b1f4547f31eb60f /src | |
| parent | ffd2fa7386f9fe3ab017d98a2b0e8e21b0975833 (diff) | |
| download | px4-firmware-3c10b78e2044ec2cbe36d4de35c7ac8a936521ae.tar.gz px4-firmware-3c10b78e2044ec2cbe36d4de35c7ac8a936521ae.tar.bz2 px4-firmware-3c10b78e2044ec2cbe36d4de35c7ac8a936521ae.zip | |
stae machine helper: remove unnecessary check for RC loss
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 2 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 15 |
2 files changed, 2 insertions, 15 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index c4b76b391..0bf5cfe34 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -566,7 +566,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s status_local->rc_signal_lost_cmd = false; if ((int)cmd->param2 <= 0) { /* reset all commanded failure modes */ - warnx("revert to normal mode"); + warnx("reset all non-flighttermination failsafe commands"); } else if ((int)cmd->param2 == 1) { /* trigger engine failure mode */ status_local->engine_failure_cmd = true; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index d105e4bdf..4506942ab 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -548,22 +548,9 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en break; case MAIN_STATE_AUTO_LOITER: - /* go into failsafe on a engine failure or if datalink and RC is lost */ + /* go into failsafe on a engine failure */ if (status->engine_failure) { status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; - } else if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) { - status->failsafe = true; - - if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; - } else if (status->condition_local_position_valid) { - status->nav_state = NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = NAVIGATION_STATE_TERMINATION; - } - /* also go into failsafe if just datalink is lost */ } else if (status->data_link_lost && data_link_loss_enabled) { status->failsafe = true; |