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Revert "commander/navigator: remove param NAV_RCL_ACT"

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This reverts commit 77ea4cebf41cd106fe771b9eb469aa2326339467.
This commit is contained in:
Julian Oes
2016-06-06 11:19:10 +02:00
committed by Lorenz Meier
parent 049146ef9c
commit d0355cef1f
4 changed files with 25 additions and 3 deletions
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4
src/modules/commander/state_machine_helper.cpp
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@@ -589,7 +589,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe, status_flags_s *status_flags, bool landed,
const int offb_loss_act, const int offb_loss_rc_act)
const bool rc_loss_enabled, const int offb_loss_act, const int offb_loss_rc_act)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -605,7 +605,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
case commander_state_s::MAIN_STATE_ALTCTL:
case commander_state_s::MAIN_STATE_POSCTL:
/* require RC for all manual modes */
if ((status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
if (rc_loss_enabled && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
status->failsafe = true;
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {