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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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11
src/modules/commander/state_machine_helper.cpp
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@@ -491,10 +491,19 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
case MAIN_STATE_AUTO_MISSION:
/* go into failsafe
* - if commanded to do so
* - if we have an engine failure
* - if either the datalink is enabled and lost as well as RC is lost
* - if there is no datalink and the mission is finished */
if (status->engine_failure) {
if (status->engine_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->data_link_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
//} else if (status->gps_failure_cmd) {
//status->nav_state = NAVIGATION_STATE_AUTO_***;
} else if (status->rc_signal_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {