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Copter: Crash origin to crash message

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Copter: Crash origin to crash message
This commit is contained in:
murata 2018-06-23 05:21:46 +09:00 committed by Randy Mackay
parent c9990cdecc
commit a783763f5a
1 changed files with 3 additions and 2 deletions
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5
ArduCopter/crash_check.cpp
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@ -44,7 +44,8 @@ void Copter::crash_check()
#endif #endif
// vehicle not crashed if 1hz filtered acceleration is more than 3m/s (1G on Z-axis has been subtracted) // vehicle not crashed if 1hz filtered acceleration is more than 3m/s (1G on Z-axis has been subtracted)
if (land_accel_ef_filter.get().length() >= CRASH_CHECK_ACCEL_MAX) { const float filtered_acc = land_accel_ef_filter.get().length();
if (filtered_acc >= CRASH_CHECK_ACCEL_MAX) {
crash_counter = 0; crash_counter = 0;
return; return;
} }
@ -65,7 +66,7 @@ void Copter::crash_check()
// keep logging even if disarmed: // keep logging even if disarmed:
AP::logger().set_force_log_disarmed(true); AP::logger().set_force_log_disarmed(true);
// send message to gcs // send message to gcs
gcs().send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming"); gcs().send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming: AngErr=%.0f>%.0f, Accel=%.1f<%.1f", angle_error, CRASH_CHECK_ANGLE_DEVIATION_DEG, filtered_acc, CRASH_CHECK_ACCEL_MAX);
// disarm motors // disarm motors
copter.arming.disarm(AP_Arming::Method::CRASH); copter.arming.disarm(AP_Arming::Method::CRASH);
} }