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Copter: correct AFS terminate-via-land for Copter

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In the case we're terminating via land it's a good idea to continue to
constantly adjust our motor outputs for stabilization and the like....
This commit is contained in:
Peter Barker 2018-09-29 17:34:36 +10:00 committed by Randy Mackay
parent 254ef4f0ae
commit ac0e126099
2 changed files with 9 additions and 2 deletions
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5
ArduCopter/motors.cpp
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@ -303,7 +303,10 @@ void Copter::motors_output()
// OBC rules // OBC rules
if (g2.afs.should_crash_vehicle()) { if (g2.afs.should_crash_vehicle()) {
g2.afs.terminate_vehicle(); g2.afs.terminate_vehicle();
return; if (!g2.afs.terminating_vehicle_via_landing()) {
return;
}
// landing must continue to run the motors output
} }
#endif #endif

4
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
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@ -84,6 +84,10 @@ public:
// for holding parameters // for holding parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
bool terminating_vehicle_via_landing() const {
return _terminate_action == TERMINATE_ACTION_LAND;
};
protected: protected:
// setup failsafe values for if FMU firmware stops running // setup failsafe values for if FMU firmware stops running
virtual void setup_IO_failsafe(void) = 0; virtual void setup_IO_failsafe(void) = 0;