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Rover: fix ModeReason on fence breaches

This commit is contained in:
Willian Galvani 2024-07-01 13:04:03 -03:00 committed by Randy Mackay
parent 38ca478178
commit dabc34e7de
2 changed files with 6 additions and 6 deletions
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6
Rover/failsafe.cpp
View File

@ -84,17 +84,17 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, const char* type_str, bool o
case FailsafeAction::None: case FailsafeAction::None:
break; break;
case FailsafeAction::SmartRTL: case FailsafeAction::SmartRTL:
if (set_mode(mode_smartrtl, ModeReason::BATTERY_FAILSAFE)) { if (set_mode(mode_smartrtl, ModeReason::FAILSAFE)) {
break; break;
} }
FALLTHROUGH; FALLTHROUGH;
case FailsafeAction::RTL: case FailsafeAction::RTL:
if (set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE)) { if (set_mode(mode_rtl, ModeReason::FAILSAFE)) {
break; break;
} }
FALLTHROUGH; FALLTHROUGH;
case FailsafeAction::Hold: case FailsafeAction::Hold:
set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE); set_mode(mode_hold, ModeReason::FAILSAFE);
break; break;
case FailsafeAction::SmartRTL_Hold: case FailsafeAction::SmartRTL_Hold:
if (!set_mode(mode_smartrtl, ModeReason::FAILSAFE)) { if (!set_mode(mode_smartrtl, ModeReason::FAILSAFE)) {

6
Rover/fence.cpp
View File

@ -25,17 +25,17 @@ void Rover::fence_check()
case FailsafeAction::None: case FailsafeAction::None:
break; break;
case FailsafeAction::SmartRTL: case FailsafeAction::SmartRTL:
if (set_mode(mode_smartrtl, ModeReason::BATTERY_FAILSAFE)) { if (set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {
break; break;
} }
FALLTHROUGH; FALLTHROUGH;
case FailsafeAction::RTL: case FailsafeAction::RTL:
if (set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE)) { if (set_mode(mode_rtl, ModeReason::FENCE_BREACHED)) {
break; break;
} }
FALLTHROUGH; FALLTHROUGH;
case FailsafeAction::Hold: case FailsafeAction::Hold:
set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE); set_mode(mode_hold, ModeReason::FENCE_BREACHED);
break; break;
case FailsafeAction::SmartRTL_Hold: case FailsafeAction::SmartRTL_Hold:
if (!set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) { if (!set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {