From 02f0533ee96c789ac7faba361406b8ce0b0a6239 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Tue, 7 Aug 2018 10:40:24 +0200
Subject: [PATCH] Commander - Remove old code that overrides
state_machine_helper logic
---
src/modules/commander/Commander.cpp | 55 -----------------------------
1 file changed, 55 deletions(-)
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 3ebfd05a22..ea88665352 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2227,61 +2227,6 @@ Commander::run()
}
}
- /* Check for failure combinations which lead to flight termination */
- if (armed.armed &&
- !status_flags.circuit_breaker_flight_termination_disabled) {
- /* At this point the data link and the gps system have been checked
- * If we are not in a manual (RC stick controlled mode)
- * and both failed we want to terminate the flight */
- if (internal_state.main_state != commander_state_s::MAIN_STATE_MANUAL &&
- internal_state.main_state != commander_state_s::MAIN_STATE_ACRO &&
- internal_state.main_state != commander_state_s::MAIN_STATE_RATTITUDE &&
- internal_state.main_state != commander_state_s::MAIN_STATE_STAB &&
- internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL &&
- internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL &&
- status.data_link_lost) {
-
- armed.force_failsafe = true;
- status_changed = true;
- static bool flight_termination_printed = false;
-
- if (!flight_termination_printed) {
- mavlink_log_critical(&mavlink_log_pub, "DL and GPS lost: flight termination");
- flight_termination_printed = true;
- }
-
- if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
- mavlink_log_critical(&mavlink_log_pub, "DL and GPS lost: flight termination");
- }
- }
-
- /* At this point the rc signal and the gps system have been checked
- * If we are in manual (controlled with RC):
- * if both failed we want to terminate the flight */
- if ((internal_state.main_state == commander_state_s::MAIN_STATE_ACRO ||
- internal_state.main_state == commander_state_s::MAIN_STATE_RATTITUDE ||
- internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL ||
- internal_state.main_state == commander_state_s::MAIN_STATE_STAB ||
- internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
- internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) &&
- status.rc_signal_lost) {
-
- armed.force_failsafe = true;
- status_changed = true;
- static bool flight_termination_printed = false;
-
- if (!flight_termination_printed) {
- warnx("Flight termination because of RC signal loss and GPS failure");
- flight_termination_printed = true;
- }
-
- if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
- mavlink_log_critical(&mavlink_log_pub, "RC and GPS lost! Flight terminated");
- }
- }
- }
-
-
/* Check for failure detector status */
if (armed.armed) {
--
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