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Rover: fix to use defined value of failsafe action

This commit is contained in:
Tatsuya Yamaguchi 2018-11-13 16:32:38 +09:00 committed by Randy Mackay
parent 2afe72d79f
commit 44360a769d
2 changed files with 6 additions and 6 deletions
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2
APMrover2/Parameters.cpp
View File

@ -130,7 +130,7 @@ const AP_Param::Info Rover::var_info[] = {
// @Description: What to do on a failsafe event // @Description: What to do on a failsafe event
// @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold // @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold
// @User: Standard // @User: Standard
GSCALAR(fs_action, "FS_ACTION", 2), GSCALAR(fs_action, "FS_ACTION", Failsafe_Action_Hold),
// @Param: FS_TIMEOUT // @Param: FS_TIMEOUT
// @DisplayName: Failsafe timeout // @DisplayName: Failsafe timeout

10
APMrover2/failsafe.cpp
View File

@ -74,24 +74,24 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
RC_Channels::clear_overrides(); RC_Channels::clear_overrides();
switch (g.fs_action) { switch (g.fs_action) {
case 0: case Failsafe_Action_None:
break; break;
case 1: case Failsafe_Action_RTL:
if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) { if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) {
set_mode(mode_hold, MODE_REASON_FAILSAFE); set_mode(mode_hold, MODE_REASON_FAILSAFE);
} }
break; break;
case 2: case Failsafe_Action_Hold:
set_mode(mode_hold, MODE_REASON_FAILSAFE); set_mode(mode_hold, MODE_REASON_FAILSAFE);
break; break;
case 3: case Failsafe_Action_SmartRTL:
if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) { if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) {
if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) { if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) {
set_mode(mode_hold, MODE_REASON_FAILSAFE); set_mode(mode_hold, MODE_REASON_FAILSAFE);
} }
} }
break; break;
case 4: case Failsafe_Action_SmartRTL_Hold:
if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) { if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) {
set_mode(mode_hold, MODE_REASON_FAILSAFE); set_mode(mode_hold, MODE_REASON_FAILSAFE);
} }