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Copter: implement has_ekf_failsafed for use by lua

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This commit is contained in:
Randy Mackay 2022-04-23 11:19:14 +09:00
parent 21ee06d362
commit 5ad6a0d2ef
2 changed files with 9 additions and 0 deletions
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6
ArduCopter/Copter.cpp
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@ -444,6 +444,12 @@ void Copter::nav_script_time_done(uint16_t id)
return mode_auto.nav_script_time_done(id); return mode_auto.nav_script_time_done(id);
} }
// returns true if the EKF failsafe has triggered. Only used by Lua scripts
bool Copter::has_ekf_failsafed() const
{
return failsafe.ekf;
}
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED

3
ArduCopter/Copter.h
View File

@ -655,6 +655,9 @@ private:
bool nav_scripting_enable(uint8_t mode) override; bool nav_scripting_enable(uint8_t mode) override;
bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2) override; bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2) override;
void nav_script_time_done(uint16_t id) override; void nav_script_time_done(uint16_t id) override;
// lua scripts use this to retrieve EKF failsafe state
// returns true if the EKF failsafe has triggered
bool has_ekf_failsafed() const override;
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED
void rc_loop(); void rc_loop();
void throttle_loop(); void throttle_loop();