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FailureDetector - Update failure detector logic in commander.

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bresch
2018-07-25 14:05:33 +02:00
committed by Beat Küng
parent 664fff4a24
commit ba93f9b983
2 changed files with 9 additions and 8 deletions
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src/modules/commander/Commander.cpp
+8 -7
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@@ -2206,7 +2206,7 @@ Commander::run()
}
/* Check for failure detector status */
if (armed.armed) {
if (armed.armed && !_in_flight_termination) {
if (_failure_detector.update()) {
@@ -2217,15 +2217,16 @@ Commander::run()
status_changed = true;
}
if (failure_status != 0 && !status_flags.circuit_breaker_flight_termination_disabled) {
if (!status_flags.circuit_breaker_flight_termination_disabled) {
if (failure_status != 0) {
// TODO: set force_failsafe flag
armed.force_failsafe = true;
status_changed = true;
if (!_failure_detector_termination_printed) {
mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected! Enforcing failsafe");
_failure_detector_termination_printed = true;
_in_flight_termination = true;
mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected: force failsafe");
}
}
}
}