mirror of https://github.com/ArduPilot/ardupilot
Rover: fix to use defined value of failsafe action
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2afe72d79f
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@ -130,7 +130,7 @@ const AP_Param::Info Rover::var_info[] = {
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// @Description: What to do on a failsafe event
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// @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold
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// @User: Standard
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GSCALAR(fs_action, "FS_ACTION", 2),
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GSCALAR(fs_action, "FS_ACTION", Failsafe_Action_Hold),
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// @Param: FS_TIMEOUT
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// @DisplayName: Failsafe timeout
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@ -74,24 +74,24 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
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RC_Channels::clear_overrides();
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switch (g.fs_action) {
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case 0:
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case Failsafe_Action_None:
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break;
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case 1:
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case Failsafe_Action_RTL:
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if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) {
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set_mode(mode_hold, MODE_REASON_FAILSAFE);
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}
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break;
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case 2:
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case Failsafe_Action_Hold:
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set_mode(mode_hold, MODE_REASON_FAILSAFE);
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break;
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case 3:
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case Failsafe_Action_SmartRTL:
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if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) {
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if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) {
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set_mode(mode_hold, MODE_REASON_FAILSAFE);
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}
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}
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break;
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case 4:
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case Failsafe_Action_SmartRTL_Hold:
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if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) {
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set_mode(mode_hold, MODE_REASON_FAILSAFE);
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}
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