vehicle_status delete engine_failure_cmd

msg/vehicle_status.msg

@@ -63,7 +63,6 @@ uint8 rc_input_mode				# set to 1 to disable the RC input, 2 to enable manual co
 bool data_link_lost				# datalink to GCS lost
 uint8 data_link_lost_counter			# counts unique data link lost events
 bool engine_failure				# Set to true if an engine failure is detected
-bool engine_failure_cmd				# Set to true if an engine failure mode is commanded
 bool mission_failure				# Set to true if mission could not continue/finish
 
 # see SYS_STATUS mavlink message for the following

src/modules/commander/commander.cpp

@@ -957,17 +957,9 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
 				armed_local->force_failsafe = true;
 				warnx("forcing failsafe (termination)");
 
-				/* param2 is currently used for other failsafe modes */
-				status_local->engine_failure_cmd = false;
-
 				if ((int)cmd->param2 <= 0) {
 					/* reset all commanded failure modes */
 					warnx("reset all non-flighttermination failsafe commands");
-
-				} else if ((int)cmd->param2 == 1) {
-					/* trigger engine failure mode */
-					status_local->engine_failure_cmd = true;
-					warnx("engine failure mode commanded");
 				}
 
 			} else {

src/modules/commander/state_machine_helper.cpp

@@ -668,11 +668,7 @@ bool set_nav_state(struct vehicle_status_s *status,
 		 * - if we have vtol transition failure
 		 * - depending on datalink, RC and if the mission is finished */
 
-		/* first look at the commands */
+		if (status_flags->gps_failure) {
-		if (status->engine_failure_cmd) {
-			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
-
-		} else if (status_flags->gps_failure) {
 			if (status->is_rotary_wing) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -1125,10 +1125,8 @@ FixedwingAttitudeControl::task_main()
 						}
 
 						/* throttle passed through if it is finite and if no engine failure was detected */
-						_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
+						_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp)
-								!(_vehicle_status.engine_failure ||
+								&& !_vehicle_status.engine_failure) ? throttle_sp : 0.0f;
-								  _vehicle_status.engine_failure_cmd)) ?
-								throttle_sp : 0.0f;
 
 						/* scale effort by battery status */
 						if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&
@@ -1169,10 +1167,7 @@ FixedwingAttitudeControl::task_main()
 					_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
 							_parameters.trim_yaw;
 
-					_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
+					_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
-							//!(_vehicle_status.engine_failure ||
-							!_vehicle_status.engine_failure_cmd) ?
-							throttle_sp : 0.0f;
 				}
 
 				/*

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -1786,7 +1786,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
 		_reinitialize_tecs = false;
 	}
 
-	if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
+	if (_vehicle_status.engine_failure) {
 		/* Force the slow downwards spiral */
 		pitch_min_rad = M_DEG_TO_RAD_F * -1.0f;
 		pitch_max_rad = M_DEG_TO_RAD_F * 5.0f;