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)
48 lines
1.4 KiB
C++
48 lines
1.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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/*
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advanced failsafe support for plane
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*/
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#if AP_ADVANCEDFAILSAFE_ENABLED
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#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
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/*
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a plane specific AP_AdvancedFailsafe class
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*/
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class AP_AdvancedFailsafe_Plane : public AP_AdvancedFailsafe
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{
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public:
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using AP_AdvancedFailsafe::AP_AdvancedFailsafe;
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// called to set all outputs to termination state
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void terminate_vehicle(void) override;
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protected:
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// setup failsafe values for if FMU firmware stops running
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void setup_IO_failsafe(void) override;
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// return the AFS mapped control mode
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enum control_mode afs_mode(void) override;
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//to force entering auto mode when datalink loss
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void set_mode_auto(void) override;
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};
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#endif // AP_ADVANCEDFAILSAFE_ENABLED
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