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DL loss && gps fail: flight termination

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This commit is contained in:
Thomas Gubler 2014-08-22 21:02:33 +02:00
parent 406a52e639
commit b22acadb8a
1 changed files with 12 additions and 1 deletions
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13
src/modules/commander/commander.cpp
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@ -1316,7 +1316,7 @@ int commander_thread_main(int argc, char *argv[])
/* 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;
status_changed = true;
warnx("Flight termination");
warnx("Flight termination because of navigator request or geofence");
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
}
@ -1579,6 +1579,17 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* At this point the data link and the gps system have been checked
* If both failed we want to terminate the flight */
if ((status.data_link_lost && status.gps_failure) ||
(status.data_link_lost_cmd && status.gps_failure_cmd)) {
armed.force_failsafe = true;
status_changed = true;
warnx("Flight termination because of data link loss && gps failure");
mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination");
}
hrt_abstime t1 = hrt_absolute_time();
/* print new state */