mirror of
https://github.com/ArduPilot/ardupilot
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9700e65d19
When enabled, it ensures vehicle enters AUTO even if it is currently in other autonomous modes (for example Guided)
38 lines
882 B
C++
38 lines
882 B
C++
/*
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Rover specific AP_AdvancedFailsafe class
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*/
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#include "Rover.h"
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#if ADVANCED_FAILSAFE == ENABLED
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/*
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Setup radio_out values for all channels to termination values
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*/
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void AP_AdvancedFailsafe_Rover::terminate_vehicle(void)
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{
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// disarm as well
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AP::arming().disarm(AP_Arming::Method::AFS);
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// Set to HOLD mode
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rover.set_mode(rover.mode_hold, ModeReason::CRASH_FAILSAFE);
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}
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/*
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Return an AFS_MODE for current control mode
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*/
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AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Rover::afs_mode(void)
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{
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if (rover.control_mode->is_autopilot_mode()) {
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return AP_AdvancedFailsafe::AFS_AUTO;
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}
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return AP_AdvancedFailsafe::AFS_STABILIZED;
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}
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//to force entering auto mode when datalink loss
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void AP_AdvancedFailsafe_Rover::set_mode_auto(void)
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{
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over.set_mode(rover.mode_auto,ModeReason::GCS_FAILSAFE);
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}
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#endif // ADVANCED_FAILSAFE
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