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Merge pull request #909 from PX4/failsafe_reporting

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Much better failsafe reporting on failsafe state changes
This commit is contained in:
Lorenz Meier
2014-05-07 02:10:53 -07:00
parent 3f57aea8e0 32b84b9652
commit 8dd0453edc
1 changed files with 17 additions and 0 deletions
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src/modules/commander/commander.cpp
+17
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@@ -1285,6 +1285,13 @@ int commander_thread_main(int argc, char *argv[])
if (res == TRANSITION_DENIED) {
/* LAND not allowed, set TERMINATION state */
transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION");
}
} else if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING");
}
}
@@ -1295,15 +1302,25 @@ int commander_thread_main(int argc, char *argv[])
if (!status.condition_landed) {
/* vehicle is not landed, try to perform RTL */
res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: RETURN TO LAND");
}
}
if (res == TRANSITION_DENIED) {
/* RTL not allowed (no global position estimate) or not wanted, try LAND */
res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING");
}
if (res == TRANSITION_DENIED) {
/* LAND not allowed, set TERMINATION state */
res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
} else if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION");
}
}
}