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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-07 15:33:11 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-22 10:54:27 +0200 |
| commit | e17411769847f8681dc05da72ed4a06ff27a7a32 (patch) | |
| tree | bf5e938f532f3d72b0884bcaef7f9493d8c53e72 /src/modules | |
| parent | 1fb8e76f0a4508cadd63b47e6f94a6638b699bcc (diff) | |
| download | px4-firmware-e17411769847f8681dc05da72ed4a06ff27a7a32.tar.gz px4-firmware-e17411769847f8681dc05da72ed4a06ff27a7a32.tar.bz2 px4-firmware-e17411769847f8681dc05da72ed4a06ff27a7a32.zip | |
gps failure has priority over engine falure, in case both fail make sure
that the gps failure mode does not turn on the engine
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 4 | ||||
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 8 |
2 files changed, 8 insertions, 4 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index e3b5d30e4..9568752ae 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -511,10 +511,10 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en } else if (status->rc_signal_lost_cmd) { status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX /* Finished handling commands which have priority , now handle failures */ - } else if (status->engine_failure) { - status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (status->gps_failure) { status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL; + } 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)) { status->failsafe = true; diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 517333c80..7cf721a35 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -860,8 +860,12 @@ FixedwingAttitudeControl::task_main() } } - /* throttle passed through */ - _actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f; + /* throttle passed through if it is finite and if no engine failure was + * detected */ + _actuators.control[3] = (isfinite(throttle_sp) && + !(_vehicle_status.engine_failure || + _vehicle_status.engine_failure_cmd)) ? + throttle_sp : 0.0f; if (!isfinite(throttle_sp)) { if (_debug && loop_counter % 10 == 0) { warnx("throttle_sp %.4f", (double)throttle_sp); |