Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_PrecLand: Raise internal error if state machine is running while precland is disabled

This commit is contained in:
Rishabh 2021-08-24 12:09:48 +05:30 committed by Randy Mackay
parent 40adad743e
commit ee176d26e9
1 changed files with 16 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp
View File

@ -9,6 +9,16 @@ static const float RETRY_OFFSET_ALT_M = 1.5f; // This gets added to the altitud
// Initialize the state machine. This is called everytime vehicle switches mode // Initialize the state machine. This is called everytime vehicle switches mode
void AC_PrecLand_StateMachine::init() void AC_PrecLand_StateMachine::init()
{ {
AC_PrecLand *_precland = AP::ac_precland();
if (_precland == nullptr) {
// precland not enabled
return;
}
if (!_precland->enabled()) {
// precland is not enabled, prec land state machine methods should not be called!
return;
}
// init is only called ONCE per mode change. So in a particuar mode we can retry only a finite times. // init is only called ONCE per mode change. So in a particuar mode we can retry only a finite times.
// The counter will be reset if the statemachine is called from a different mode // The counter will be reset if the statemachine is called from a different mode
_retry_count = 0; _retry_count = 0;
@ -40,6 +50,12 @@ AC_PrecLand_StateMachine::Status AC_PrecLand_StateMachine::update(Vector3f &retr
// should never happen // should never happen
return Status::ERROR; return Status::ERROR;
} }
if (!_precland->enabled()) {
// precland is not enabled, prec land state machine should not be called!
return Status::ERROR;
}
AC_PrecLand::TargetState precland_target_state = _precland->get_target_state(); AC_PrecLand::TargetState precland_target_state = _precland->get_target_state();
switch (precland_target_state) { switch (precland_target_state) {