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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-07 15:31:58 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-22 10:54:00 +0200 |
| commit | a8239b2c4516c36d30767c0ae61b30f1e2dde096 (patch) | |
| tree | 21ad36cf31e0ac2f174f64f4d8ab25b399602550 /src/modules/navigator/rcloss.cpp | |
| parent | 21009e89a4c748d8a61174058bb378c1d6306b8d (diff) | |
| download | px4-firmware-a8239b2c4516c36d30767c0ae61b30f1e2dde096.tar.gz px4-firmware-a8239b2c4516c36d30767c0ae61b30f1e2dde096.tar.bz2 px4-firmware-a8239b2c4516c36d30767c0ae61b30f1e2dde096.zip | |
if V_RCL_LT < 0 go directly to termination
Diffstat (limited to 'src/modules/navigator/rcloss.cpp')
| -rw-r--r-- | src/modules/navigator/rcloss.cpp | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp index 651e31184..5564a1c42 100644 --- a/src/modules/navigator/rcloss.cpp +++ b/src/modules/navigator/rcloss.cpp @@ -153,10 +153,17 @@ RCLoss::advance_rcl() { switch (_rcl_state) { case RCL_STATE_NONE: - /* Check the number of data link losses. If above home fly home directly */ - warnx("RC loss, OBC mode, loiter"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, loitering"); - _rcl_state = RCL_STATE_LOITER; + if (_param_loitertime.get() > 0.0f) { + warnx("RC loss, OBC mode, loiter"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, loitering"); + _rcl_state = RCL_STATE_LOITER; + } else { + warnx("RC loss, OBC mode, slip loiter, terminate"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, terminating"); + _rcl_state = RCL_STATE_TERMINATE; + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + } break; case RCL_STATE_LOITER: _rcl_state = RCL_STATE_TERMINATE; |