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commander delete unused gps_failure_cmd

This commit is contained in:
Daniel Agar 2017-12-20 17:53:30 -05:00 committed by Lorenz Meier
parent ca804a2308
commit 5a6cde41d5
4 changed files with 3 additions and 15 deletions
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2
msg/vehicle_status_flags.msg
View File

@ -49,7 +49,6 @@ uint16 DATA_LINK_LOST_CMD_MASK = 512
uint16 VTOL_TRANSITION_FAILURE_MASK = 1024 uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048 uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048
uint16 GPS_FAILURE_MASK = 4096 uint16 GPS_FAILURE_MASK = 4096
uint16 GPS_FAILURE_CMD_MASK = 8192
# 0x0001 usb_connected: status of the USB power supply # 0x0001 usb_connected: status of the USB power supply
# 0x0002 offboard_control_signal_found_once # 0x0002 offboard_control_signal_found_once
@ -64,6 +63,5 @@ uint16 GPS_FAILURE_CMD_MASK = 8192
# 0x0400 vtol_transition_failure: Set to true if vtol transition failed # 0x0400 vtol_transition_failure: Set to true if vtol transition failed
# 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded # 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded
# 0x1000 gps_failure: Set to true if a gps failure is detected # 0x1000 gps_failure: Set to true if a gps failure is detected
# 0x2000 gps_failure_cmd: Set to true if a gps failure mode is commanded
uint16 other_flags uint16 other_flags

13
src/modules/commander/commander.cpp
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@ -960,7 +960,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
/* param2 is currently used for other failsafe modes */ /* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false; status_local->engine_failure_cmd = false;
status_flags.data_link_lost_cmd = false; status_flags.data_link_lost_cmd = false;
status_flags.gps_failure_cmd = false;
status_flags.rc_signal_lost_cmd = false; status_flags.rc_signal_lost_cmd = false;
status_flags.vtol_transition_failure_cmd = false; status_flags.vtol_transition_failure_cmd = false;
@ -978,11 +977,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
status_flags.data_link_lost_cmd = true; status_flags.data_link_lost_cmd = true;
warnx("data link loss mode commanded"); warnx("data link loss mode commanded");
} else if ((int)cmd->param2 == 3) {
/* trigger gps loss mode */
status_flags.gps_failure_cmd = true;
warnx("GPS loss mode commanded");
} else if ((int)cmd->param2 == 4) { } else if ((int)cmd->param2 == 4) {
/* trigger rc loss mode */ /* trigger rc loss mode */
status_flags.rc_signal_lost_cmd = true; status_flags.rc_signal_lost_cmd = true;
@ -2952,7 +2946,7 @@ Commander::run()
internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL && internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL &&
internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL && internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL &&
((status.data_link_lost && status_flags.gps_failure) || ((status.data_link_lost && status_flags.gps_failure) ||
(status_flags.data_link_lost_cmd && status_flags.gps_failure_cmd))) { (status_flags.data_link_lost_cmd))) {
armed.force_failsafe = true; armed.force_failsafe = true;
status_changed = true; status_changed = true;
static bool flight_termination_printed = false; static bool flight_termination_printed = false;
@ -2977,7 +2971,7 @@ Commander::run()
internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL || internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) && internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status_flags.gps_failure) || ((status.rc_signal_lost && status_flags.gps_failure) ||
(status_flags.rc_signal_lost_cmd && status_flags.gps_failure_cmd))) { (status_flags.rc_signal_lost_cmd))) {
armed.force_failsafe = true; armed.force_failsafe = true;
status_changed = true; status_changed = true;
static bool flight_termination_printed = false; static bool flight_termination_printed = false;
@ -4531,9 +4525,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
if (status_flags.gps_failure) { if (status_flags.gps_failure) {
v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_MASK; v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_MASK;
} }
if (status_flags.gps_failure_cmd) {
v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_CMD_MASK;
}
if ((v_flags.conditions != vehicle_status_flags.conditions) || if ((v_flags.conditions != vehicle_status_flags.conditions) ||
(v_flags.other_flags != vehicle_status_flags.other_flags) || (v_flags.other_flags != vehicle_status_flags.other_flags) ||

2
src/modules/commander/state_machine_helper.cpp
View File

@ -681,7 +681,7 @@ bool set_nav_state(struct vehicle_status_s *status,
} else if (status_flags->vtol_transition_failure_cmd) { } else if (status_flags->vtol_transition_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status_flags->gps_failure || status_flags->gps_failure_cmd) { } else if (status_flags->gps_failure) {
if (status->is_rotary_wing) { if (status->is_rotary_wing) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;

1
src/modules/commander/state_machine_helper.h
View File

@ -109,7 +109,6 @@ struct status_flags_s {
bool vtol_transition_failure; // Set to true if vtol transition failed bool vtol_transition_failure; // Set to true if vtol transition failed
bool vtol_transition_failure_cmd; // Set to true if vtol transition failure mode is commanded bool vtol_transition_failure_cmd; // Set to true if vtol transition failure mode is commanded
bool gps_failure; // Set to true if a gps failure is detected bool gps_failure; // Set to true if a gps failure is detected
bool gps_failure_cmd; // Set to true if a gps failure mode is commanded
}; };
bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed); bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed);