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Sub: Require initial contact with GCS before entering failsafe.

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This commit is contained in:
Jacob Walser 2016-12-14 17:46:09 -05:00 committed by Andrew Tridgell
parent 7121910fa7
commit d237887d08
2 changed files with 4 additions and 2 deletions
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2
ArduSub/Sub.cpp
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@ -103,6 +103,8 @@ Sub::Sub(void) :
// init sensor error logging flags // init sensor error logging flags
sensor_health.baro = true; sensor_health.baro = true;
sensor_health.compass = true; sensor_health.compass = true;
failsafe.last_heartbeat_ms = 0;
} }
Sub sub; Sub sub;

4
ArduSub/events.cpp
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@ -126,9 +126,9 @@ void Sub::set_leak_status(bool status) {
// failsafe_gcs_check - check for ground station failsafe // failsafe_gcs_check - check for ground station failsafe
void Sub::failsafe_gcs_check() void Sub::failsafe_gcs_check()
{ {
// return immediately if gcs failsafe action is disabled // return immediately if we have never had contact with a gcs, or if gcs failsafe action is disabled
// this also checks to see if we have a GCS failsafe active, if we do, then must continue to process the logic for recovery from this state. // this also checks to see if we have a GCS failsafe active, if we do, then must continue to process the logic for recovery from this state.
if (!g.failsafe_gcs && g.failsafe_gcs == FS_GCS_DISABLED) { if (failsafe.last_heartbeat_ms == 0 || (!g.failsafe_gcs && g.failsafe_gcs == FS_GCS_DISABLED)) {
return; return;
} }