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failure_detector: add motor/ESC failure detection

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This commit is contained in:
Alessandro Simovic
2022-05-12 07:58:56 +02:00
committed by Beat Küng
parent dfd934fbdb
commit fb71e7587c
25 changed files with 338 additions and 441 deletions
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src/modules/navigator/navigator_main.cpp
+5 -12
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@@ -78,19 +78,17 @@ Navigator::Navigator() :
_land(this),
_precland(this),
_rtl(this),
_engineFailure(this),
_follow_target(this)
{
/* Create a list of our possible navigation types */
_navigation_mode_array[0] = &_mission;
_navigation_mode_array[1] = &_loiter;
_navigation_mode_array[2] = &_rtl;
_navigation_mode_array[3] = &_engineFailure;
_navigation_mode_array[4] = &_takeoff;
_navigation_mode_array[5] = &_land;
_navigation_mode_array[6] = &_precland;
_navigation_mode_array[7] = &_vtol_takeoff;
_navigation_mode_array[8] = &_follow_target;
_navigation_mode_array[3] = &_takeoff;
_navigation_mode_array[4] = &_land;
_navigation_mode_array[5] = &_precland;
_navigation_mode_array[6] = &_vtol_takeoff;
_navigation_mode_array[7] = &_follow_target;
_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
_handle_reverse_delay = param_find("VT_B_REV_DEL");
@@ -697,11 +695,6 @@ void Navigator::run()
_precland.set_mode(PrecLandMode::Required);
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_engineFailure;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_follow_target;