diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 17 |
1 files changed, 9 insertions, 8 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 9262f9e81..dca5c1a8e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1098,6 +1098,10 @@ int commander_thread_main(int argc, char *argv[]) status.is_rotary_wing = false; } + /* set vehicle_status.is_vtol flag */ + status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) || + (status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR); + /* check and update system / component ID */ param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); @@ -1119,6 +1123,8 @@ int commander_thread_main(int argc, char *argv[]) /* navigation parameters */ param_get(_param_takeoff_alt, &takeoff_alt); + + /* Safety parameters */ param_get(_param_enable_parachute, ¶chute_enabled); param_get(_param_enable_datalink_loss, &datalink_loss_enabled); param_get(_param_datalink_loss_timeout, &datalink_loss_timeout); @@ -1127,6 +1133,8 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_ef_throttle_thres, &ef_throttle_thres); param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres); param_get(_param_ef_time_thres, &ef_time_thres); + + /* Autostart id */ param_get(_param_autostart_id, &autostart_id); } @@ -2230,14 +2238,7 @@ set_control_mode() { /* set vehicle_control_mode according to set_navigation_state */ control_mode.flag_armed = armed.armed; - /* TODO: check this */ - if (autostart_id < 13000 || autostart_id >= 14000) { - control_mode.flag_external_manual_override_ok = !status.is_rotary_wing; - - } else { - control_mode.flag_external_manual_override_ok = false; - } - + control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol); control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON; control_mode.flag_control_offboard_enabled = false; |