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navigator: add failure enum

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This commit is contained in:
bresch
2024-08-14 11:08:02 +02:00
committed by Mathieu Bresciani
parent 25fcb3c913
commit 4ed3e9e210
5 changed files with 22 additions and 8 deletions
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src/modules/commander/HealthAndArmingChecks/checks/navigatorCheck.cpp
+12 -1
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@@ -42,6 +42,17 @@ void NavigatorChecks::checkAndReport(const Context &context, Report &reporter)
}
if (context.status().nav_state == status.nav_state) {
reporter.failsafeFlags().navigator_failure = status.failure;
reporter.failsafeFlags().navigator_failure = (status.failure != navigator_status_s::FAILURE_NONE);
if (status.failure == navigator_status_s::FAILURE_HAGL) {
/* EVENT
*/
reporter.armingCheckFailure(NavModes::All,
health_component_t::system,
events::ID("check_navigator_failure_hagl"),
events::Log::Error,
"Waypoint above maximum height");
}
}
}