2017-01-30 10:21:55 -04:00
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/*
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Rover specific AP_AdvancedFailsafe class
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*/
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#include "Rover.h"
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#if ADVANCED_FAILSAFE == ENABLED
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/*
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Setup radio_out values for all channels to termination values
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*/
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void AP_AdvancedFailsafe_Rover::terminate_vehicle(void)
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{
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// disarm as well
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2019-05-03 09:32:42 -03:00
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AP::arming().disarm();
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2017-01-30 10:21:55 -04:00
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// Set to HOLD mode
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2019-10-31 21:08:43 -03:00
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rover.set_mode(rover.mode_hold, ModeReason::CRASH_FAILSAFE);
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2017-01-30 10:21:55 -04:00
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}
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/*
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Return an AFS_MODE for current control mode
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*/
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AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Rover::afs_mode(void)
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{
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2017-07-19 01:34:04 -03:00
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if (rover.control_mode->is_autopilot_mode()) {
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2017-01-30 10:21:55 -04:00
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return AP_AdvancedFailsafe::AFS_AUTO;
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}
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return AP_AdvancedFailsafe::AFS_STABILIZED;
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}
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#endif // ADVANCED_FAILSAFE
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