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commander: flight termination, require arming

sbg
Thomas Gubler 11 years ago
parent
fd3746a233
commit
2971510289
1 changed files with 26 additions and 24 deletions
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  1. 50
      src/modules/commander/commander.cpp

50
src/modules/commander/commander.cpp
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@ -1311,7 +1311,7 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet); orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet);
/* Check for geofence violation */ /* Check for geofence violation */
if (pos_sp_triplet.geofence_violated || pos_sp_triplet.flight_termination) { if (armed.armed && (pos_sp_triplet.geofence_violated || pos_sp_triplet.flight_termination)) {
//XXX: make this configurable to select different actions (e.g. navigation modes) //XXX: make this configurable to select different actions (e.g. navigation modes)
/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */ /* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
armed.force_failsafe = true; armed.force_failsafe = true;
@ -1580,29 +1580,31 @@ int commander_thread_main(int argc, char *argv[])
} }
/* Check for failure combinations which lead to flight termination */ /* Check for failure combinations which lead to flight termination */
/* At this point the data link and the gps system have been checked if (armed.armed) {
* If both failed we want to terminate the flight */ /* At this point the data link and the gps system have been checked
if ((status.data_link_lost && status.gps_failure) || * If both failed we want to terminate the flight */
(status.data_link_lost_cmd && status.gps_failure_cmd)) { if ((status.data_link_lost && status.gps_failure) ||
armed.force_failsafe = true; (status.data_link_lost_cmd && status.gps_failure_cmd)) {
status_changed = true; armed.force_failsafe = true;
warnx("Flight termination because of data link loss && gps failure"); status_changed = true;
mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination"); warnx("Flight termination because of data link loss && gps failure");
} mavlink_log_critical(mavlink_fd, "DL and GPS lost: flight termination");
}
/* At this point the rc signal and the gps system have been checked
* If we are in manual (controlled with RC): /* At this point the rc signal and the gps system have been checked
* if both failed we want to terminate the flight */ * If we are in manual (controlled with RC):
if ((status.main_state == MAIN_STATE_ACRO || * if both failed we want to terminate the flight */
status.main_state == MAIN_STATE_MANUAL || if ((status.main_state == MAIN_STATE_ACRO ||
status.main_state == MAIN_STATE_ALTCTL || status.main_state == MAIN_STATE_MANUAL ||
status.main_state == MAIN_STATE_POSCTL) && status.main_state == MAIN_STATE_ALTCTL ||
((status.rc_signal_lost && status.rc_signal_lost) || status.main_state == MAIN_STATE_POSCTL) &&
(status.rc_signal_lost && status.gps_failure_cmd))) { ((status.rc_signal_lost && status.rc_signal_lost) ||
armed.force_failsafe = true; (status.rc_signal_lost && status.gps_failure_cmd))) {
status_changed = true; armed.force_failsafe = true;
warnx("Flight termination because of RC signal loss && gps failure"); status_changed = true;
mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination"); warnx("Flight termination because of RC signal loss && gps failure");
mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination");
}
} }

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