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Copter: auto_spline_start handles triggers terrain failsafe

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Also immediately exit auto_wp_start on terrain failsafe
This commit is contained in:
Randy Mackay 2016-05-07 16:26:49 +09:00
parent 3688636736
commit 70463dc572
1 changed files with 4 additions and 3 deletions
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7
ArduCopter/control_auto.cpp
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@ -206,6 +206,7 @@ void Copter::auto_wp_start(const Location_Class& dest_loc)
if (!wp_nav.set_wp_destination(dest_loc)) { if (!wp_nav.set_wp_destination(dest_loc)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
failsafe_terrain_on_event(); failsafe_terrain_on_event();
return;
} }
// initialise yaw // initialise yaw
@ -275,9 +276,9 @@ void Copter::auto_spline_start(const Location_Class& destination, bool stopped_a
// initialise wpnav // initialise wpnav
if (!wp_nav.set_spline_destination(destination, stopped_at_start, seg_end_type, next_destination)) { if (!wp_nav.set_spline_destination(destination, stopped_at_start, seg_end_type, next_destination)) {
// failure to set destination (likely because of missing terrain data) // failure to set destination can only be because of missing terrain data
Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION); failsafe_terrain_on_event();
// To-Do: handle failure return;
} }
// initialise yaw // initialise yaw