Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: add adsb to failsafe structure and report in heartbeat to GCS

Browse Source
This commit is contained in:
Randy Mackay 2016-07-19 15:42:46 +09:00
parent f4db4bdb08
commit 68899ed921
2 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduCopter/Copter.h
View File

@ -293,6 +293,7 @@ private:
uint8_t gcs : 1; // 4 // A status flag for the ground station failsafe
uint8_t ekf : 1; // 5 // true if ekf failsafe has occurred
uint8_t terrain : 1; // 6 // true if the missing terrain data failsafe has occurred
uint8_t adsb : 1; // 7 // true if an adsb related failsafe has occurred
int8_t radio_counter; // number of iterations with throttle below throttle_fs_value

2
ArduCopter/GCS_Mavlink.cpp
View File

@ -36,7 +36,7 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
uint32_t custom_mode = control_mode;
// set system as critical if any failsafe have triggered
if (failsafe.radio || failsafe.battery || failsafe.gcs || failsafe.ekf || failsafe.terrain) {
if (failsafe.radio || failsafe.battery || failsafe.gcs || failsafe.ekf || failsafe.terrain || failsafe.adsb) {
system_status = MAV_STATE_CRITICAL;
}