fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: more robust RC failsafe, but still hotfix, needs to be rewritten

Browse Source
This commit is contained in:
Anton Babushkin 2014-01-21 15:26:51 +01:00
parent 2e472cf918
commit eb9fd154fe
1 changed files with 10 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
src/modules/commander/commander.cpp
View File

@ -1133,12 +1133,17 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
status.rc_signal_lost = true;
status_changed = true;
if (status.main_state != MAIN_STATE_AUTO && armed.armed) {
transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO);
}
if (status.main_state != MAIN_STATE_AUTO && armed.armed) {
transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#audio: failsafe, switching to RTL mode");
status.set_nav_state = NAV_STATE_RTL;
status.set_nav_state_timestamp = hrt_absolute_time();
} else if (status.main_state != MAIN_STATE_SEATBELT) {
res = main_state_transition(&status, MAIN_STATE_SEATBELT);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#audio: switching to RTL mode");
status.set_nav_state = NAV_STATE_RTL;
status.set_nav_state_timestamp = hrt_absolute_time();
mavlink_log_critical(mavlink_fd, "#audio: failsafe, switching to SEATBELT mode");
}
}
}