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commander: flight termination, require arming

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This commit is contained in:
Thomas Gubler
2014-08-23 13:00:28 +02:00
parent fd3746a233
commit 2971510289
1 changed files with 25 additions and 23 deletions
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src/modules/commander/commander.cpp
+25 -23
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@@ -1311,7 +1311,7 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet);
/* Check for geofence violation */
if (pos_sp_triplet.geofence_violated || pos_sp_triplet.flight_termination) {
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;
@@ -1580,29 +1580,31 @@ int commander_thread_main(int argc, char *argv[])
}
/* Check for failure combinations which lead to flight termination */
/* 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");
}
if (armed.armed) {
/* 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");
}
/* At this point the rc signal and the gps system have been checked
* If we are in manual (controlled with RC):
* if both failed we want to terminate the flight */
if ((status.main_state == MAIN_STATE_ACRO ||
status.main_state == MAIN_STATE_MANUAL ||
status.main_state == MAIN_STATE_ALTCTL ||
status.main_state == MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status.rc_signal_lost) ||
(status.rc_signal_lost && status.gps_failure_cmd))) {
armed.force_failsafe = true;
status_changed = true;
warnx("Flight termination because of RC signal loss && gps failure");
mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination");
/* At this point the rc signal and the gps system have been checked
* If we are in manual (controlled with RC):
* if both failed we want to terminate the flight */
if ((status.main_state == MAIN_STATE_ACRO ||
status.main_state == MAIN_STATE_MANUAL ||
status.main_state == MAIN_STATE_ALTCTL ||
status.main_state == MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status.rc_signal_lost) ||
(status.rc_signal_lost && status.gps_failure_cmd))) {
armed.force_failsafe = true;
status_changed = true;
warnx("Flight termination because of RC signal loss && gps failure");
mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination");
}
}