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Failure Detector - move "force_failsafe" flag inside circuit_breaker protection; remove PX4_WARN and send mavlink msg only once

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This commit is contained in:
bresch
2018-08-28 11:23:25 -04:00
committed by Daniel Agar
parent 9a6fef62ab
commit 72f2317c95
1 changed files with 3 additions and 6 deletions
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src/modules/commander/Commander.cpp
+3 -6
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@@ -2294,20 +2294,17 @@ Commander::run()
if (failure_status.roll || if (failure_status.roll ||
failure_status.pitch) { failure_status.pitch) {
armed.force_failsafe = true;
status.attitude_failure = true; status.attitude_failure = true;
status_changed = true; status_changed = true;
// Only display an user message if the circuit-breaker is disabled // Only display an user message if the circuit-breaker is disabled
if (!status_flags.circuit_breaker_flight_termination_disabled) { if (!status_flags.circuit_breaker_flight_termination_disabled) {
if (!_failure_detector_termination_printed) { armed.force_failsafe = true;
PX4_WARN("Flight termination because of attitude exceeding maximum values");
_failure_detector_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { if (!_failure_detector_termination_printed) {
mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected: force failsafe"); mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected: force failsafe");
_failure_detector_termination_printed = true;
} }
} }
} }