forked from Archive/PX4-Autopilot
stae machine helper: remove unnecessary check for RC loss
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@ -566,7 +566,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
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status_local->rc_signal_lost_cmd = false;
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if ((int)cmd->param2 <= 0) {
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/* reset all commanded failure modes */
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warnx("revert to normal mode");
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warnx("reset all non-flighttermination failsafe commands");
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} else if ((int)cmd->param2 == 1) {
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/* trigger engine failure mode */
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status_local->engine_failure_cmd = true;
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@ -548,22 +548,9 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
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break;
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case MAIN_STATE_AUTO_LOITER:
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/* go into failsafe on a engine failure or if datalink and RC is lost */
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/* go into failsafe on a engine failure */
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if (status->engine_failure) {
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status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
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} else if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) {
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status->failsafe = true;
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if (status->condition_global_position_valid && status->condition_home_position_valid) {
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status->nav_state = NAVIGATION_STATE_AUTO_RTL;
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} else if (status->condition_local_position_valid) {
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status->nav_state = NAVIGATION_STATE_LAND;
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} else if (status->condition_local_altitude_valid) {
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status->nav_state = NAVIGATION_STATE_DESCEND;
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} else {
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status->nav_state = NAVIGATION_STATE_TERMINATION;
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}
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/* also go into failsafe if just datalink is lost */
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} else if (status->data_link_lost && data_link_loss_enabled) {
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status->failsafe = true;
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