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Sub: disarm motors if failsafe action fails

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This commit is contained in:
Jacob Walser 2018-04-21 00:35:03 -04:00
parent 4fe8746a2a
commit 4fae5cdfcf
1 changed files with 6 additions and 2 deletions
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8
ArduSub/failsafe.cpp
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@ -346,9 +346,13 @@ void Sub::failsafe_gcs_check()
if (g.failsafe_gcs == FS_GCS_DISARM) { if (g.failsafe_gcs == FS_GCS_DISARM) {
init_disarm_motors(); init_disarm_motors();
} else if (g.failsafe_gcs == FS_GCS_HOLD && motors.armed()) { } else if (g.failsafe_gcs == FS_GCS_HOLD && motors.armed()) {
set_mode(ALT_HOLD, MODE_REASON_GCS_FAILSAFE); if (!set_mode(ALT_HOLD, MODE_REASON_GCS_FAILSAFE)) {
init_disarm_motors();
}
} else if (g.failsafe_gcs == FS_GCS_SURFACE && motors.armed()) { } else if (g.failsafe_gcs == FS_GCS_SURFACE && motors.armed()) {
set_mode(SURFACE, MODE_REASON_GCS_FAILSAFE); if (!set_mode(SURFACE, MODE_REASON_GCS_FAILSAFE)) {
init_disarm_motors();
}
} }
} }