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Added functionality to prevent activating smartrtl even for disarmed copter

This commit is contained in:
Harsh 2024-10-02 21:12:54 +05:30
parent e40ae8e649
commit f16ddb6647
1 changed files with 12 additions and 1 deletions
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13
ArduCopter/mode_smart_rtl.cpp
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@ -11,6 +11,13 @@
bool ModeSmartRTL::init(bool ignore_checks) bool ModeSmartRTL::init(bool ignore_checks)
{ {
// Add check to prevent SmartRTL activation when disarmed
if (!motors->armed()) {
// Send a warning message to the GCS
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Cannot engage SmartRTL while disarmed");
return false; // Prevent initialization
}
if (g2.smart_rtl.is_active()) { if (g2.smart_rtl.is_active()) {
// initialise waypoint and spline controller // initialise waypoint and spline controller
wp_nav->wp_and_spline_init(); wp_nav->wp_and_spline_init();
@ -174,8 +181,12 @@ void ModeSmartRTL::pre_land_position_run()
// save current position for use by the smart_rtl flight mode // save current position for use by the smart_rtl flight mode
void ModeSmartRTL::save_position() void ModeSmartRTL::save_position()
{ {
const bool should_save_position = motors->armed() && (copter.flightmode->mode_number() != Mode::Number::SMART_RTL); // Prevent saving positions when the drone is disarmed
if (!motors->armed()) {
return;
}
const bool should_save_position = motors->armed() && (copter.flightmode->mode_number() != Mode::Number::SMART_RTL);
copter.g2.smart_rtl.update(copter.position_ok(), should_save_position); copter.g2.smart_rtl.update(copter.position_ok(), should_save_position);
} }