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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-19 14:39:41 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-19 14:39:41 +0200 |
| commit | 0b743a9f5c29cee3b3d7c6d602091453e1091973 (patch) | |
| tree | 563a86fcb7abbd719ddb910299aedcb7a082c90c /src | |
| parent | de0dd71061b1b388e87c25a3d4fd0080f0c9cf8b (diff) | |
| download | px4-firmware-0b743a9f5c29cee3b3d7c6d602091453e1091973.tar.gz px4-firmware-0b743a9f5c29cee3b3d7c6d602091453e1091973.tar.bz2 px4-firmware-0b743a9f5c29cee3b3d7c6d602091453e1091973.zip | |
parse flighttermination command
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 21 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_command.h | 1 |
2 files changed, 9 insertions, 13 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 953feec2a..04450a44f 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -546,24 +546,19 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s } break; -#if 0 /* Flight termination */ - case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command - - //XXX: to enable the parachute, a param needs to be set - //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO - if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) { - transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION); - cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; - + case VEHICLE_CMD_DO_FLIGHTTERMINATION: { + if (cmd->param1 > 0.5f) { + //XXX update state machine? + armed_local->force_failsafe = true; + warnx("forcing failsafe"); } else { - /* reject parachute depoyment not armed */ - cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + armed_local->force_failsafe = false; + warnx("disabling failsafe"); } - + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } break; -#endif case VEHICLE_CMD_DO_SET_HOME: { bool use_current = cmd->param1 > 0.5f; diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index c21a29b13..7db33d98b 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -76,6 +76,7 @@ enum VEHICLE_CMD { VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ |