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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/navigator/navigator_main.cpp
+4 -4
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@@ -1358,10 +1358,10 @@ void Navigator::set_mission_failure_heading_timeout()
}
}
void Navigator::trigger_failsafe(const uint8_t nav_state)
void Navigator::trigger_hagl_failsafe(const uint8_t nav_state)
{
if (!_navigator_status.failure || _navigator_status.nav_state != nav_state) {
_navigator_status.failure = true;
if ((_navigator_status.failure != navigator_status_s::FAILURE_HAGL) || _navigator_status.nav_state != nav_state) {
_navigator_status.failure = navigator_status_s::FAILURE_HAGL;
_navigator_status.nav_state = nav_state;
_navigator_status_updated = true;
@@ -1378,7 +1378,7 @@ void Navigator::publish_navigator_status()
if (_navigator_status.nav_state != current_nav_state) {
_navigator_status.nav_state = current_nav_state;
_navigator_status.failure = false;
_navigator_status.failure = navigator_status_s::FAILURE_NONE;
_navigator_status_updated = true;
}