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commander: add wind or flight time limit exceeded mode requirement

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This prevents switching into any of these modes once the condition is set.
This commit is contained in:
Beat Küng
2023-02-01 08:48:09 +01:00
committed by Silvan Fuhrer
parent a8628c9d9c
commit b1709743f7
5 changed files with 14 additions and 2 deletions
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src/modules/commander/failsafe/failsafe.cpp
+1 -2
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@@ -393,8 +393,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
CHECK_FAILSAFE(status_flags, wind_limit_exceeded,
ActionOptions(Action::RTL).clearOn(ClearCondition::OnModeChangeOrDisarm));
CHECK_FAILSAFE(status_flags, flight_time_limit_exceeded,
ActionOptions(Action::RTL).allowUserTakeover(UserTakeoverAllowed::Never));
CHECK_FAILSAFE(status_flags, flight_time_limit_exceeded, ActionOptions(Action::RTL));
CHECK_FAILSAFE(status_flags, primary_geofence_breached, fromGfActParam(_param_gf_action.get()));
src/modules/commander/failsafe/framework.cpp
+1
View File
@@ -614,6 +614,7 @@ uint8_t FailsafeBase::modeFromAction(const Action &action, uint8_t user_intended
bool FailsafeBase::modeCanRun(const failsafe_flags_s &status_flags, uint8_t mode)
{
uint32_t mode_mask = 1u << mode;
// mode_req_wind_and_flight_time_compliance: does not need to be handled here (these are separate failsafe triggers)
return
(!status_flags.angular_velocity_invalid || ((status_flags.mode_req_angular_velocity & mode_mask) == 0)) &&
(!status_flags.attitude_invalid || ((status_flags.mode_req_attitude & mode_mask) == 0)) &&