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mc_pos_control: enter FlighttaskFailsafe if Flighttask wants to be started, but all of

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the Flighttask fail. A failure of the Flighttask can occur if the demanded Flighttask does
not have the required data.
This commit is contained in:
Dennis Mannhart
2018-08-30 09:27:48 +02:00
committed by ChristophTobler
parent 06c10f61c1
commit 81c5025ad8
1 changed files with 11 additions and 5 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+11 -5
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@@ -742,7 +742,6 @@ MulticopterPositionControl::task_main()
publish_avoidance_desired_waypoint();
} else {
// no flighttask is active: set attitude setpoint to idle
_att_sp.roll_body = _att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = _local_pos.yaw;
@@ -864,7 +863,6 @@ MulticopterPositionControl::start_flight_task()
}
}
// manual stabilized control
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_STAB || task_failure) {
@@ -883,9 +881,17 @@ MulticopterPositionControl::start_flight_task()
// check task failure
if (task_failure) {
// No task was activated.
_flight_tasks.switchTask(FlightTaskIndex::None);
warn_rate_limited("No Flighttask is running");
// for some reason no flighttask was able to start.
// go into failsafe flighttask
int error = _flight_tasks.switchTask(FlightTaskIndex::Failsafe);
task_failure = false;
if (error != 0) {
// No task was activated.
_flight_tasks.switchTask(FlightTaskIndex::None);
}
}
}