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GCS_MAVLink: any internal error means MAV_STATE_CRITICAL

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Peter Barker 2019-11-25 08:24:44 +11:00 committed by Andrew Tridgell
parent 0317b66139
commit 314ea32ede
3 changed files with 19 additions and 2 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -308,7 +308,8 @@ protected:
void set_ekf_origin(const Location& loc); void set_ekf_origin(const Location& loc);
virtual MAV_MODE base_mode() const = 0; virtual MAV_MODE base_mode() const = 0;
virtual MAV_STATE system_status() const = 0; MAV_STATE system_status() const;
virtual MAV_STATE vehicle_system_status() const = 0;
virtual MAV_VTOL_STATE vtol_state() const { return MAV_VTOL_STATE_UNDEFINED; } virtual MAV_VTOL_STATE vtol_state() const { return MAV_VTOL_STATE_UNDEFINED; }
virtual MAV_LANDED_STATE landed_state() const { return MAV_LANDED_STATE_UNDEFINED; } virtual MAV_LANDED_STATE landed_state() const { return MAV_LANDED_STATE_UNDEFINED; }

16
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2226,6 +2226,22 @@ void GCS_MAVLINK::send_gps_global_origin() const
AP_HAL::micros64()); AP_HAL::micros64());
} }
MAV_STATE GCS_MAVLINK::system_status() const
{
MAV_STATE _system_status = vehicle_system_status();
if (_system_status < MAV_STATE_CRITICAL) {
// note that POWEROFF and FLIGHT_TERMINATION are both >
// CRITICAL, so we will not overwrite POWEROFF and
// FLIGHT_TERMINATION even if we have internal errors. If new
// enum entries are added then this may also not overwrite
// those.
if (AP::internalerror().errors()) {
_system_status = MAV_STATE_CRITICAL;
}
}
return _system_status;
}
/* /*
Send MAVLink heartbeat Send MAVLink heartbeat
*/ */

2
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -41,7 +41,7 @@ protected:
// dummy information: // dummy information:
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; } MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; } MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
bool set_home_to_current_location(bool _lock) override { return false; } bool set_home_to_current_location(bool _lock) override { return false; }
bool set_home(const Location& loc, bool _lock) override { return false; } bool set_home(const Location& loc, bool _lock) override { return false; }