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gps failure has priority over engine falure, in case both fail make sure

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that the gps failure mode does not turn on the engine
This commit is contained in:
Thomas Gubler
2014-09-22 10:54:27 +02:00
parent 1fb8e76f0a
commit e174117698
2 changed files with 8 additions and 4 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+6 -2
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@@ -860,8 +860,12 @@ FixedwingAttitudeControl::task_main()
}
}
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
/* throttle passed through if it is finite and if no engine failure was
* detected */
_actuators.control[3] = (isfinite(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);