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move flight termination and geofence flags from setpoint triplet to mission result

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Thomas Gubler
2014-08-24 17:45:15 +02:00
parent a432d0493c
commit 06317046f2
7 changed files with 41 additions and 40 deletions
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src/modules/commander/commander.cpp
+9 -9
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@@ -1328,15 +1328,6 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet);
/* Check for geofence violation */
if (armed.armed && (pos_sp_triplet.geofence_violated || pos_sp_triplet.flight_termination)) {
//XXX: make this configurable to select different actions (e.g. navigation modes)
/* 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 because of navigator request or geofence");
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
@@ -1429,6 +1420,15 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
/* Check for geofence violation */
if (armed.armed && (mission_result.geofence_violated || mission_result.flight_termination)) {
//XXX: make this configurable to select different actions (e.g. navigation modes)
/* 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 because of navigator request or geofence");
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
}
/* RC input check */