From b22acadb8a255cfdf7a8c77ea0ea84587ff7d5e0 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 22 Aug 2014 21:02:33 +0200 Subject: DL loss && gps fail: flight termination --- src/modules/commander/commander.cpp | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) (limited to 'src') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 243546787..8ae5a441a 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1316,7 +1316,7 @@ int commander_thread_main(int argc, char *argv[]) /* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */ armed.force_failsafe = true; status_changed = true; - warnx("Flight termination"); + warnx("Flight termination because of navigator request or geofence"); } // no reset is done here on purpose, on geofence violation we want to stay in flighttermination } @@ -1579,6 +1579,17 @@ int commander_thread_main(int argc, char *argv[]) } } + /* 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) || + (status.data_link_lost_cmd && status.gps_failure_cmd)) { + armed.force_failsafe = true; + status_changed = true; + warnx("Flight termination because of data link loss && gps failure"); + mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination"); + } + + hrt_abstime t1 = hrt_absolute_time(); /* print new state */ -- cgit v1.2.3