mirror of https://github.com/ArduPilot/ardupilot
39 lines
902 B
C++
39 lines
902 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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// Constructor
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AP_AdvancedFailsafe_Rover::AP_AdvancedFailsafe_Rover(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
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AP_AdvancedFailsafe(_mission, _baro, _gps, _rcmap)
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{}
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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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rover.disarm_motors();
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// Set to HOLD mode
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rover.set_mode(rover.mode_hold, MODE_REASON_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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#endif // ADVANCED_FAILSAFE
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