fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 17:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

failsafe: set cause to generic when fallback mode is activated

Browse Source 
Previously when triggering low battery RTL and then losing GPS, the fallback
to Descend would still have low battery as cause.
This commit is contained in:
Beat Küng
2024-03-15 10:06:58 +01:00
committed by Silvan Fuhrer
parent da39d075ac
commit 70346a5b2f
1 changed files with 14 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/failsafe/framework.cpp
+14
View File
@@ -517,6 +517,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::FallbackAltCtrl:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
@@ -524,6 +526,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::FallbackStab:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_STAB)) {
@@ -531,6 +535,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
} // else: fall through here as well. If stabilized isn't available, we most certainly end up in Terminate
returned_state.cause = Cause::Generic;
// fallthrough
case Action::Hold:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
@@ -538,6 +544,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::RTL:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) {
@@ -545,6 +553,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::Land:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) {
@@ -552,6 +562,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::Descend:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_DESCEND)) {
@@ -559,6 +571,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
break;
}
returned_state.cause = Cause::Generic;
// fallthrough
case Action::Terminate:
selected_action = Action::Terminate;