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AP_AdvancedFailsafe: Allow GCS teriminate to supply a reason cause

This commit is contained in:
Michael du Breuil 2017-11-09 15:32:59 -07:00 committed by Francisco Ferreira
parent 12fd19ea26
commit dab13f0e34
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
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@ -378,7 +378,7 @@ bool AP_AdvancedFailsafe::should_crash_vehicle(void)
// update GCS based termination // update GCS based termination
// returns true if AFS is in the desired termination state // returns true if AFS is in the desired termination state
bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate) { bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate, const char *reason) {
if (!_enable) { if (!_enable) {
gcs().send_text(MAV_SEVERITY_INFO, "AFS not enabled, can't terminate the vehicle"); gcs().send_text(MAV_SEVERITY_INFO, "AFS not enabled, can't terminate the vehicle");
return false; return false;
@ -391,9 +391,9 @@ bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate) {
if(should_terminate == is_terminating) { if(should_terminate == is_terminating) {
if (is_terminating) { if (is_terminating) {
gcs().send_text(MAV_SEVERITY_INFO, "Terminating due to GCS request"); gcs().send_text(MAV_SEVERITY_INFO, "Terminating due to %s", reason);
} else { } else {
gcs().send_text(MAV_SEVERITY_INFO, "Aborting termination due to GCS request"); gcs().send_text(MAV_SEVERITY_INFO, "Aborting termination due to %s", reason);
} }
return true; return true;
} else if (should_terminate && _terminate_action != TERMINATE_ACTION_TERMINATE) { } else if (should_terminate && _terminate_action != TERMINATE_ACTION_TERMINATE) {

2
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
View File

@ -77,7 +77,7 @@ public:
bool should_crash_vehicle(void); bool should_crash_vehicle(void);
// enables or disables a GCS based termination, returns true if AFS is in the desired termination state // enables or disables a GCS based termination, returns true if AFS is in the desired termination state
bool gcs_terminate(bool should_terminate); bool gcs_terminate(bool should_terminate, const char *reason);
// called to set all outputs to termination state // called to set all outputs to termination state
virtual void terminate_vehicle(void) = 0; virtual void terminate_vehicle(void) = 0;