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temporary workaround to trigger failsafe with remote control

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Thomas Gubler
2013-12-14 11:03:02 +01:00
parent 367d5d0cf2
commit 23d0c6f8dd
1 changed files with 10 additions and 0 deletions
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10
src/modules/commander/commander.cpp
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@@ -1189,6 +1189,16 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* Flight termination in manual mode if assisted switch is on easy position //xxx hack! */
if (armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON, &control_mode);
if (flighttermination_res == TRANSITION_CHANGED) {
tune_positive();
}
} else {
flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF, &control_mode);
}
/* handle commands last, as the system needs to be updated to handle them */
orb_check(cmd_sub, &updated);