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