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Commander: add comment in COM_RC_OVERRIDE that it's always enabled in Descend mdoe 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-08-30 09:41:43 +02:00 committed by Daniel Agar
parent eeb6244c6b
commit 31a599f303
2 changed files with 4 additions and 0 deletions
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1
src/modules/commander/ManualControl.cpp
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@ -69,6 +69,7 @@ bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_
const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
&& vehicle_control_mode.flag_control_offboard_enabled;
// in Descend and LandGPSFail manual override is enbaled independently of COM_RC_OVERRIDE
const bool override_landing = (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND);

3
src/modules/commander/commander_params.c
View File

@ -645,6 +645,9 @@ PARAM_DEFINE_INT32(COM_REARM_GRACE, 1);
* their center position immediately gives control back to the pilot by switching to Position mode.
* Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
*
* This parameter is not considered in case of a GPS failure (Descend flight mode), where stick
* override is always enabled.
*
* @min 0
* @max 7
* @bit 0 Enable override during auto modes (except for in critical battery reaction)