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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-14 22:38:48 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-14 22:38:48 +0200 |
| commit | 0f2b66fa8b3782c965966e9c0b0b6f16b80d7f38 (patch) | |
| tree | 39198a4d63386694cc95449d4326e0801f5875a7 /src/modules/commander/state_machine_helper.cpp | |
| parent | 9ee6ab366d2a7c6f24e2f08021da9cd861663bdc (diff) | |
| download | px4-firmware-0f2b66fa8b3782c965966e9c0b0b6f16b80d7f38.tar.gz px4-firmware-0f2b66fa8b3782c965966e9c0b0b6f16b80d7f38.tar.bz2 px4-firmware-0f2b66fa8b3782c965966e9c0b0b6f16b80d7f38.zip | |
failsafe: enable support for commands
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index ecfe62e03..157e35ef8 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -491,10 +491,19 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en case MAIN_STATE_AUTO_MISSION: /* go into failsafe + * - if commanded to do so * - if we have an engine failure * - if either the datalink is enabled and lost as well as RC is lost * - if there is no datalink and the mission is finished */ - if (status->engine_failure) { + if (status->engine_failure_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; + } else if (status->data_link_lost_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; + //} else if (status->gps_failure_cmd) { + //status->nav_state = NAVIGATION_STATE_AUTO_***; + } else if (status->rc_signal_lost_cmd) { + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX + } else if (status->engine_failure) { status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) || (!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) { |