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failsafe: enable support for commands

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This commit is contained in:
Thomas Gubler
2014-08-14 22:38:48 +02:00
parent 9ee6ab366d
commit 0f2b66fa8b
4 changed files with 40 additions and 3 deletions
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25
src/modules/commander/commander.cpp
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@@ -557,6 +557,31 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
armed_local->force_failsafe = false;
warnx("disabling failsafe");
}
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
status_local->data_link_lost_cmd = false;
status_local->gps_failure_cmd = false;
status_local->rc_signal_lost_cmd = false;
if ((int)cmd->param2 <= 0) {
/* reset all commanded failure modes */
warnx("revert to normal mode");
} else if ((int)cmd->param2 == 1) {
/* trigger engine failure mode */
status_local->engine_failure_cmd = true;
warnx("engine failure mode commanded");
} else if ((int)cmd->param2 == 2) {
/* trigger data link loss mode */
status_local->data_link_lost_cmd = true;
warnx("data link loss mode commanded");
} else if ((int)cmd->param2 == 3) {
/* trigger gps loss mode */
status_local->gps_failure_cmd = true;
warnx("gps loss mode commanded");
} else if ((int)cmd->param2 == 4) {
/* trigger rc loss mode */
status_local->rc_signal_lost_cmd = true;
warnx("rc loss mode commanded");
}
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
}
break;