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Rover: Add SmartRTL failsafe action 

Add failsafe actions SmartRTL or RTL and SmartRTL or Hold
This commit is contained in:
Dylan Herman 2018-01-18 13:19:50 -05:00 committed by Randy Mackay
parent 6ce9b47807
commit f3b794f698
2 changed files with 13 additions and 1 deletions
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2
APMrover2/Parameters.cpp
View File

@ -152,7 +152,7 @@ const AP_Param::Info Rover::var_info[] = {
// @Param: FS_ACTION // @Param: FS_ACTION
// @DisplayName: Failsafe Action // @DisplayName: Failsafe Action
// @Description: What to do on a failsafe event // @Description: What to do on a failsafe event
// @Values: 0:Nothing,1:RTL,2:Hold // @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold
// @User: Standard // @User: Standard
GSCALAR(fs_action, "FS_ACTION", 2), GSCALAR(fs_action, "FS_ACTION", 2),

12
APMrover2/failsafe.cpp
View File

@ -77,6 +77,18 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
case 2: case 2:
set_mode(mode_hold, MODE_REASON_FAILSAFE); set_mode(mode_hold, MODE_REASON_FAILSAFE);
break; break;
case 3:
if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) {
if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) {
set_mode(mode_hold, MODE_REASON_FAILSAFE);
}
}
break;
case 4:
if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) {
set_mode(mode_hold, MODE_REASON_FAILSAFE);
}
break;
} }
} }
} }