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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-22 21:40:58 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-22 21:40:58 +0200 |
commit | d50135b611605891cb1fb8841490c41474c3ec31 (patch) | |
tree | fe3eaf3e935fa686bf20f16ee261c29f0bf3abde | |
parent | b22acadb8a255cfdf7a8c77ea0ea84587ff7d5e0 (diff) | |
download | px4-firmware-d50135b611605891cb1fb8841490c41474c3ec31.tar.gz px4-firmware-d50135b611605891cb1fb8841490c41474c3ec31.tar.bz2 px4-firmware-d50135b611605891cb1fb8841490c41474c3ec31.zip |
rc loss && gps loss: flight termination
-rw-r--r-- | src/modules/commander/commander.cpp | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 8ae5a441a..9968ab8e6 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1579,6 +1579,7 @@ int commander_thread_main(int argc, char *argv[]) } } + /* Check for failure combinations which lead to flight termination */ /* At this point the data link and the gps system have been checked * If both failed we want to terminate the flight */ if ((status.data_link_lost && status.gps_failure) || @@ -1589,6 +1590,21 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_critical(mavlink_fd, "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 ((status.main_state == MAIN_STATE_ACRO || + status.main_state == MAIN_STATE_MANUAL || + status.main_state == MAIN_STATE_ALTCTL || + status.main_state == MAIN_STATE_POSCTL) && + ((status.rc_signal_lost && status.rc_signal_lost) || + (status.rc_signal_lost && status.gps_failure_cmd))) { + armed.force_failsafe = true; + status_changed = true; + warnx("Flight termination because of RC signal loss && gps failure"); + mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination"); + } + hrt_abstime t1 = hrt_absolute_time(); |