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Commander: fix rc override threshold scaling (#15807)

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Improve parameter description for threshold
and lower the threshold a bit.
This commit is contained in:
Matthias Grob
2020-09-24 14:52:19 +02:00
committed by GitHub
parent 0a607bdc67
commit 5d47a4c9e0
3 changed files with 22 additions and 24 deletions
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9
src/modules/commander/Commander.cpp
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@@ -1428,9 +1428,6 @@ Commander::run()
status.rc_input_mode = _param_rc_in_off.get();
// percentage (* 0.01) needs to be doubled because RC total interval is 2, not 1
_min_stick_change = _param_min_stick_change.get() * 0.02f;
rc_arm_hyst = _param_rc_arm_hyst.get() * COMMANDER_MONITORING_LOOPSPERMSEC;
_arm_requirements.arm_authorization = _param_arm_auth_required.get();
@@ -1908,10 +1905,12 @@ Commander::run()
if ((override_auto_mode || override_offboard_mode) && is_rotary_wing
&& !in_low_battery_failsafe && !_geofence_warning_action_on) {
const float minimum_stick_deflection = 0.01f * _param_com_rc_stick_ov.get();
// transition to previous state if sticks are touched
if (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < 1_s && // don't use uninitialized or old messages
((fabsf(_manual_control_setpoint.x) > _min_stick_change) ||
(fabsf(_manual_control_setpoint.y) > _min_stick_change))) {
((fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
(fabsf(_manual_control_setpoint.y) > minimum_stick_deflection))) {
// revert to position control in any case
main_state_transition(status, commander_state_s::MAIN_STATE_POSCTL, status_flags, &_internal_state);
mavlink_log_info(&mavlink_log_pub, "Pilot took over control using sticks");