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Sub: lock out depth hold mode if no external sensor is present

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Jacob Walser 2016-08-24 17:50:20 -04:00 committed by Andrew Tridgell
parent 4a1c6fc46c
commit a217b4c684
1 changed files with 5 additions and 0 deletions
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5
ArduSub/control_althold.cpp
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@ -9,6 +9,11 @@
// althold_init - initialise althold controller // althold_init - initialise althold controller
bool Sub::althold_init(bool ignore_checks) bool Sub::althold_init(bool ignore_checks)
{ {
if(!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "Depth hold requires external pressure sensor.");
return false;
}
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
// sets the maximum speed up and down returned by position controller // sets the maximum speed up and down returned by position controller
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max); pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);