fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-05 07:01:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: mavlink output on flight termination

Browse Source
This commit is contained in:
Thomas Gubler
2014-08-16 18:07:21 +02:00
parent f480c10282
commit ab9b234893
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+2 -1
View File
@@ -1313,9 +1313,10 @@ int commander_thread_main(int argc, char *argv[])
/* Check for geofence violation */ /* Check for geofence violation */
if (pos_sp_triplet.geofence_violated) { if (pos_sp_triplet.geofence_violated) {
//XXX: make this configurable to select different actions (e.g. navigation modes) //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 */ /* 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.force_failsafe = true;
status_changed = true; status_changed = true;
mavlink_log_emergency(mavlink_fd, "Geofence violated: terminating");
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination } // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
} }