ardupilot/APMrover2/afs_rover.cpp

/*
  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
    rover.set_mode(rover.mode_hold, MODE_REASON_CRASH_FAILSAFE);
}

/*
  Return an AFS_MODE for current control mode
 */
AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Rover::afs_mode(void)
{
    if (rover.control_mode->is_autopilot_mode()) {
        return AP_AdvancedFailsafe::AFS_AUTO;
    }
    return AP_AdvancedFailsafe::AFS_STABILIZED;
}

#endif  // ADVANCED_FAILSAFE