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FlightModeManager: make sure emergency failsafe works

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This commit is contained in:
Matthias Grob
2020-10-24 14:35:27 +02:00
committed by Daniel Agar
parent 8329208b84
commit 8edb06e94f
3 changed files with 12 additions and 17 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
+1 -8
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@@ -430,17 +430,10 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
_flight_tasks.setYawHandler(_wv_controller);
// In case flight task was not able to update correctly we send the empty setpoint which makes the position controller failsafe.
if (_flight_tasks.update()) {
setpoint = _flight_tasks.getPositionSetpoint();
constraints = _flight_tasks.getConstraints();
//_failsafe_land_hysteresis.set_state_and_update(false, time_stamp_now); TODO
} else {
// FAILSAFE
// Task was not able to update correctly. Do Failsafe.
// by sending out an empty setpoint that is not executable to make the position controller failsafe
// TODO test failsafe
}
landing_gear_s landing_gear = _flight_tasks.getGear();