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add obc gps failure mode

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This commit is contained in:
Thomas Gubler
2014-08-22 00:40:45 +02:00
parent 1a14ff250e
commit 752a0a5625
8 changed files with 207 additions and 48 deletions
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src/modules/commander/commander.cpp
+16 -2
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@@ -1311,11 +1311,12 @@ 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) {
if (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;
armed.fosrce_failsafe = true;
status_changed = true;
warnx("Flight termination");
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
}
@@ -2060,6 +2061,7 @@ set_control_mode()
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTGS:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
@@ -2071,6 +2073,18 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_LAND:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;