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Copter: add EKF failsafe notify tones

This commit is contained in:
Tatsuya Yamaguchi 2020-09-18 16:39:10 +09:00 committed by Randy Mackay
parent e134d12e32
commit 941c5f8179
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/ekf_check.cpp
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@ -191,6 +191,10 @@ void Copter::failsafe_ekf_event()
set_mode_land_with_pause(ModeReason::EKF_FAILSAFE);
break;
}
// set true if ekf action is triggered
AP_Notify::flags.failsafe_ekf = true;
gcs().send_text(MAV_SEVERITY_CRITICAL, "EKF Failsafe: changed to %s Mode", flightmode->name());
}
// failsafe_ekf_off_event - actions to take when EKF failsafe is cleared
@ -202,6 +206,10 @@ void Copter::failsafe_ekf_off_event(void)
}
failsafe.ekf = false;
if (AP_Notify::flags.failsafe_ekf) {
AP_Notify::flags.failsafe_ekf = false;
gcs().send_text(MAV_SEVERITY_CRITICAL, "EKF Failsafe Cleared");
}
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
}