fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 16:17:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FailureDetector - Add is_failure() function to simplify the interface; the user does not need to check the bitmask

Browse Source
This commit is contained in:
bresch
2019-03-08 17:31:15 +01:00
committed by Beat Küng
parent d3c9436f84
commit 03ad4ffd47
2 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+2 -2
View File
@@ -2223,14 +2223,14 @@ Commander::run()
!_flight_termination_triggered &&
!status_flags.circuit_breaker_flight_termination_disabled) {
if (status.failure_detector_status != 0) {
if (_failure_detector.is_failure()) {
armed.force_failsafe = true;
status_changed = true;
_flight_termination_triggered = true;
mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected: force failsafe");
mavlink_log_critical(&mavlink_log_pub, "Critical failure detected: terminate flight");
set_tune_override(TONE_PARACHUTE_RELEASE_TUNE);
}
}