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ArduPlane: add failsafe auto variant which skips loops 

Co-authored-by: Michelle Rossouw <michelleros128@gmail.com>
This commit is contained in:
Peter Barker 2024-11-10 14:02:04 +11:00
parent 089bd6255b
commit 1e9b0c240c
2 changed files with 13 additions and 0 deletions
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1
ArduPlane/defines.h
View File

@ -45,6 +45,7 @@ enum failsafe_action_long {
FS_ACTION_LONG_GLIDE = 2,
FS_ACTION_LONG_PARACHUTE = 3,
FS_ACTION_LONG_AUTO = 4,
FS_ACTION_LONG_AUTO_SATISFY_JUMP_REPEATS = 5,
};
// type of stick mixing enabled

12
ArduPlane/events.cpp
View File

@ -145,6 +145,10 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
set_mode(mode_fbwa, reason);
} else if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
set_mode(mode_auto, reason);
} else if (g.fs_action_long == FS_ACTION_LONG_AUTO_SATISFY_JUMP_REPEATS) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Marking all loops as satisfied");
mission.satisfy_jump_repeats();
set_mode(mode_auto, reason);
} else {
set_mode(mode_rtl, reason);
}
@ -194,6 +198,10 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
set_mode(mode_fbwa, reason);
} else if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
set_mode(mode_auto, reason);
} else if (g.fs_action_long == FS_ACTION_LONG_AUTO_SATISFY_JUMP_REPEATS) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Marking all loops as satisfied");
mission.satisfy_jump_repeats();
set_mode(mode_auto, reason);
} else if (g.fs_action_long == FS_ACTION_LONG_RTL) {
set_mode(mode_rtl, reason);
}
@ -202,6 +210,10 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
case Mode::Number::RTL:
if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
set_mode(mode_auto, reason);
} else if (g.fs_action_long == FS_ACTION_LONG_AUTO_SATISFY_JUMP_REPEATS) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Marking all loops as satisfied");
mission.satisfy_jump_repeats();
set_mode(mode_auto, reason);
}
break;
#if HAL_QUADPLANE_ENABLED