From eb9fd154fef4f01c6eda1bb87ee7ea87c6c04133 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 21 Jan 2014 15:26:51 +0100 Subject: [PATCH] commander: more robust RC failsafe, but still hotfix, needs to be rewritten --- src/modules/commander/commander.cpp | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 6a668fcd72..47053838cf 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -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"); } } }