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GCS_MAVLink: any internal error means MAV_STATE_CRITICAL

This commit is contained in:
Peter Barker 2019-11-25 08:24:44 +11:00 committed by Randy Mackay
parent ecdf6f1301
commit a1a82e998a
3 changed files with 19 additions and 2 deletions
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3
libraries/GCS_MAVLink/GCS.h
View File

@ -289,7 +289,8 @@ protected:
void set_ekf_origin(const Location& loc);
virtual MAV_MODE base_mode() const = 0;
virtual MAV_STATE system_status() const = 0;
MAV_STATE system_status() const;
virtual MAV_STATE vehicle_system_status() const = 0;
virtual MAV_VTOL_STATE vtol_state() const { return MAV_VTOL_STATE_UNDEFINED; }
virtual MAV_LANDED_STATE landed_state() const { return MAV_LANDED_STATE_UNDEFINED; }

16
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2220,6 +2220,22 @@ void GCS_MAVLINK::send_gps_global_origin() const
AP_HAL::micros64());
}
MAV_STATE GCS_MAVLINK::system_status() const
{
MAV_STATE _system_status = vehicle_system_status();
if (_system_status < MAV_STATE_CRITICAL) {
// note that POWEROFF and FLIGHT_TERMINATION are both >
// CRITICAL, so we will not overwrite POWEROFF and
// FLIGHT_TERMINATION even if we have internal errors. If new
// enum entries are added then this may also not overwrite
// those.
if (AP::internalerror().errors()) {
_system_status = MAV_STATE_CRITICAL;
}
}
return _system_status;
}
/*
Send MAVLink heartbeat
*/

2
libraries/GCS_MAVLink/GCS_Dummy.h
View File

@ -41,7 +41,7 @@ protected:
// dummy information:
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
bool set_home_to_current_location(bool lock) override { return false; }
bool set_home(const Location& loc, bool lock) override { return false; }