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Copter: ekf failsafe may trigger while disarmed but takes no action

This commit is contained in:
Randy Mackay 2021-02-11 13:35:17 +09:00
parent 5babe93201
commit 49486b7cea
1 changed files with 7 additions and 2 deletions
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9
ArduCopter/ekf_check.cpp
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@ -38,8 +38,8 @@ void Copter::ekf_check()
return;
}
// return immediately if motors are not armed, or ekf check is disabled
if (!motors->armed() || (g.fs_ekf_thresh <= 0.0f)) {
// return immediately if ekf check is disabled
if (g.fs_ekf_thresh <= 0.0f) {
ekf_check_state.fail_count = 0;
ekf_check_state.bad_variance = false;
AP_Notify::flags.ekf_bad = ekf_check_state.bad_variance;
@ -161,6 +161,11 @@ void Copter::failsafe_ekf_event()
failsafe.ekf = true;
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
// if disarmed take no action
if (!motors->armed()) {
return;
}
// sometimes LAND *does* require GPS so ensure we are in non-GPS land
if (control_mode == Mode::Number::LAND && landing_with_GPS()) {
mode_land.do_not_use_GPS();