Commander: avoid RC actions during calibration #18890
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julianoes
approved these changes
Dec 22, 2021
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Describe problem solved by this pull request
Before #17404 special handling of RC actions namely arming, modes switching and override during RC calibration was done through the
ManualControl::setRCAllowed()in the class within commander. Listening to thevehicle_status_flags.rc_input_blockedflag was kept intact for the override but not for arming and mode switching.Describe your solution
I rename the flag
vehicle_status_flags.rc_input_blockedtorc_calibration_in_progressto avoid any ambiguity and guard the execution of RC-initiated actions during RC calibration.Test data / coverage
I bench tested this on a pixracer with TBS Crossfire SBUS concentrating on holding the already calibrated arm gesture for a long time and also moving the already configured mode switch during calibration because that's what triggered the actions before.