ardupilot/APMrover2/afs_rover.cpp

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/*
Rover specific AP_AdvancedFailsafe class
*/
#include "Rover.h"
#if ADVANCED_FAILSAFE == ENABLED
// Constructor
AP_AdvancedFailsafe_Rover::AP_AdvancedFailsafe_Rover(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
AP_AdvancedFailsafe(_mission, _baro, _gps, _rcmap)
{}
/*
Setup radio_out values for all channels to termination values
*/
void AP_AdvancedFailsafe_Rover::terminate_vehicle(void)
{
// disarm as well
rover.disarm_motors();
// Set to HOLD mode
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rover.set_mode(rover.mode_hold, MODE_REASON_CRASH_FAILSAFE);
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}
/*
Return an AFS_MODE for current control mode
*/
AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Rover::afs_mode(void)
{
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if (rover.control_mode->is_autopilot_mode()) {
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return AP_AdvancedFailsafe::AFS_AUTO;
}
return AP_AdvancedFailsafe::AFS_STABILIZED;
}
#endif // ADVANCED_FAILSAFE