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Commander: remove variable duplication for geofence and rc override 

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2020-01-13 13:43:26 +01:00 committed by Lorenz Meier
parent 4f362f5835
commit 288725684c
1 changed files with 5 additions and 5 deletions
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10
src/modules/commander/Commander.cpp
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@ -1660,13 +1660,14 @@ Commander::run()
/* start geofence result check */ /* start geofence result check */
_geofence_result_sub.update(&_geofence_result); _geofence_result_sub.update(&_geofence_result);
const bool in_low_battery_failsafe = _battery_warning > battery_status_s::BATTERY_WARNING_LOW;
// Geofence actions // Geofence actions
const bool geofence_action_enabled = _geofence_result.geofence_action != geofence_result_s::GF_ACTION_NONE; const bool geofence_action_enabled = _geofence_result.geofence_action != geofence_result_s::GF_ACTION_NONE;
const bool not_in_battery_failsafe = _battery_warning < battery_status_s::BATTERY_WARNING_CRITICAL;
if (armed.armed if (armed.armed
&& geofence_action_enabled && geofence_action_enabled
&& not_in_battery_failsafe) { && !in_low_battery_failsafe) {
// check for geofence violation transition // check for geofence violation transition
if (_geofence_result.geofence_violated && !_geofence_violated_prev) { if (_geofence_result.geofence_violated && !_geofence_violated_prev) {
@ -1741,7 +1742,6 @@ Commander::run()
// abort auto mode or geofence reaction if sticks are moved significantly // abort auto mode or geofence reaction if sticks are moved significantly
// but only if not in a low battery handling action // but only if not in a low battery handling action
const bool low_battery_reaction = _battery_warning >= battery_status_s::BATTERY_WARNING_CRITICAL;
const bool is_rotary_wing = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; const bool is_rotary_wing = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
const bool override_auto_mode = const bool override_auto_mode =
@ -1756,7 +1756,7 @@ Commander::run()
_internal_state.main_state == commander_state_s::MAIN_STATE_OFFBOARD; _internal_state.main_state == commander_state_s::MAIN_STATE_OFFBOARD;
if ((override_auto_mode || override_offboard_mode) && is_rotary_wing if ((override_auto_mode || override_offboard_mode) && is_rotary_wing
&& !low_battery_reaction && !_geofence_warning_action_on) { && !in_low_battery_failsafe && !_geofence_warning_action_on) {
// transition to previous state if sticks are touched // transition to previous state if sticks are touched
if ((_last_sp_man.timestamp != _sp_man.timestamp) && if ((_last_sp_man.timestamp != _sp_man.timestamp) &&
((fabsf(_sp_man.x - _last_sp_man.x) > _min_stick_change) || ((fabsf(_sp_man.x - _last_sp_man.x) > _min_stick_change) ||
@ -1766,7 +1766,7 @@ Commander::run()
// revert to position control in any case // revert to position control in any case
main_state_transition(status, commander_state_s::MAIN_STATE_POSCTL, status_flags, &_internal_state); main_state_transition(status, commander_state_s::MAIN_STATE_POSCTL, status_flags, &_internal_state);
mavlink_log_critical(&mavlink_log_pub, "Autonomy off! Returned control to pilot"); mavlink_log_info(&mavlink_log_pub, "Autonomy off! Returned control to pilot");
} }
} }