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Commander: cleanup COM_POSCTL_NAVL parameter

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- move to px4::params
- use enum
This commit is contained in:
Julien Lecoeur
2019-08-15 12:20:18 +02:00
committed by Julian Oes
parent 907b6ccf46
commit 4c9288d993
5 changed files with 13 additions and 13 deletions
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5
src/modules/commander/state_machine_helper.cpp
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@@ -393,7 +393,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished,
const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed,
const link_loss_actions_t rc_loss_act, const int offb_loss_act, const int offb_loss_rc_act,
const int posctl_nav_loss_act)
const position_nav_loss_actions_t posctl_nav_loss_act)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -468,7 +468,8 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
* For fixedwing, a global position is needed. */
} else if (is_armed
&& check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, !(posctl_nav_loss_act == 1),
&& check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags,
!(posctl_nav_loss_act == position_nav_loss_actions_t::LAND_TERMINATE),
status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
// nothing to do - everything done in check_invalid_pos_nav_state