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rc loss && gps loss: flight termination

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Thomas Gubler
2014-08-22 21:40:58 +02:00
parent b22acadb8a
commit d50135b611
1 changed files with 16 additions and 0 deletions
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src/modules/commander/commander.cpp
+16
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@@ -1579,6 +1579,7 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* Check for failure combinations which lead to flight termination */
/* 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) ||
@@ -1589,6 +1590,21 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination");
}
/* At this point the rc signal and the gps system have been checked
* If we are in manual (controlled with RC):
* if both failed we want to terminate the flight */
if ((status.main_state == MAIN_STATE_ACRO ||
status.main_state == MAIN_STATE_MANUAL ||
status.main_state == MAIN_STATE_ALTCTL ||
status.main_state == MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status.rc_signal_lost) ||
(status.rc_signal_lost && status.gps_failure_cmd))) {
armed.force_failsafe = true;
status_changed = true;
warnx("Flight termination because of RC signal loss && gps failure");
mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination");
}
hrt_abstime t1 = hrt_absolute_time();