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comander: trigger failsafe when navigator reports failure

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bresch
2024-08-14 11:08:02 +02:00
committed by Mathieu Bresciani
parent 9f69e9ee6c
commit 25fcb3c913
7 changed files with 115 additions and 2 deletions
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src/modules/navigator/rtl_direct.cpp
+2 -2
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@@ -161,8 +161,8 @@ void RtlDirect::set_rtl_item()
if (_global_pos_sub.get().terrain_alt_valid
&& ((_rtl_alt - _global_pos_sub.get().terrain_alt) > _navigator->get_local_position()->hagl_max)) {
// Handle case where the RTL altidude is above the maximum HAGL and land in place instead of RTL
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return alt higher than max HAGL, landing\t");
events::send(events::ID("rtl_fail_max_hagl"), events::Log::Warning, "RTL: return alt higher than max HAGL, landing");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return alt higher than max HAGL\t");
events::send(events::ID("rtl_fail_max_hagl"), events::Log::Error, "RTL: return alt higher than max HAGL");
_navigator->trigger_failsafe(getNavigatorStateId());
_rtl_state = RTLState::IDLE;