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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/commander/state_machine_helper.cpp
+2 -2
View File
@@ -511,10 +511,10 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
} else if (status->rc_signal_lost_cmd) { } else if (status->rc_signal_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX
/* Finished handling commands which have priority , now handle failures */ /* Finished handling commands which have priority , now handle failures */
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->gps_failure) { } else if (status->gps_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL; status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) || } else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) { (!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
status->failsafe = true; status->failsafe = true;
src/modules/fw_att_control/fw_att_control_main.cpp
+6 -2
View File
@@ -860,8 +860,12 @@ FixedwingAttitudeControl::task_main()
} }
} }
/* throttle passed through */ /* throttle passed through if it is finite and if no engine failure was
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f; * 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 (!isfinite(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) { if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp); warnx("throttle_sp %.4f", (double)throttle_sp);