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Plane: allow Failsafe_Action_AUTOLAND_OR_RTL without MODE_AUTOLAND_ENABLED and defualt to RTL

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Iampete1 2025-02-23 14:03:34 +00:00 committed by Andrew Tridgell
parent 9b7c88152b
commit d84a3ec26f
2 changed files with 4 additions and 10 deletions
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2
ArduPlane/Plane.h
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@ -1232,9 +1232,7 @@ private:
#if HAL_QUADPLANE_ENABLED
Failsafe_Action_Loiter_alt_QLand = 6,
#endif
#if MODE_AUTOLAND_ENABLED
Failsafe_Action_AUTOLAND_OR_RTL = 7,
#endif
};
// list of priorities, highest priority first

12
ArduPlane/events.cpp
View File

@ -302,10 +302,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
FALLTHROUGH;
}
case Failsafe_Action_RTL:
#if MODE_AUTOLAND_ENABLED
case Failsafe_Action_AUTOLAND_OR_RTL:
#endif
{
case Failsafe_Action_AUTOLAND_OR_RTL: {
bool already_landing = flight_stage == AP_FixedWing::FlightStage::LAND;
#if HAL_QUADPLANE_ENABLED
if (control_mode == &mode_qland || control_mode == &mode_loiter_qland ||
@ -322,10 +319,9 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
}
aparm.throttle_cruise.load();
#if MODE_AUTOLAND_ENABLED
if (((Failsafe_Action)action == Failsafe_Action_AUTOLAND_OR_RTL) &&
set_mode(mode_autoland, ModeReason::BATTERY_FAILSAFE)) {
break;
}
if (((Failsafe_Action)action == Failsafe_Action_AUTOLAND_OR_RTL) && set_mode(mode_autoland, ModeReason::BATTERY_FAILSAFE)) {
break;
}
#endif
set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE);
}