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Plane: Support landing terminations on landing backends that support it

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This commit is contained in:
Michael du Breuil 2017-07-25 10:58:24 -07:00 committed by Tom Pittenger
parent 0bbbb3d08d
commit 4fd13d5205
1 changed files with 12 additions and 8 deletions
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6
ArduPlane/afs_plane.cpp
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@ -17,7 +17,10 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
{
plane.g2.servo_channels.disable_passthrough(true);
// and all aux channels
if (_terminate_action == TERMINATE_ACTION_LAND) {
plane.landing.terminate();
} else {
// aerodynamic termination is the default approach to termination
SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 100);
SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 100);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX);
@ -25,6 +28,7 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
plane.servos_output();