forked from Archive/PX4-Autopilot
state_machine_helper: (Critical) Prevent datalink failsafe triggering if not enabled.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
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@ -836,15 +836,18 @@ void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
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// do the best you can according to the action set
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switch (link_loss_act) {
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case (link_loss_actions_t::DISABLED):
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case (link_loss_actions_t::AUTO_RECOVER):
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case link_loss_actions_t::DISABLED:
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// If datalink loss failsafe is disabled then no action must be taken.
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break;
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case link_loss_actions_t::AUTO_RECOVER:
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if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
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status->nav_state = auto_recovery_nav_state;
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return;
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}
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// FALLTHROUGH
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case (link_loss_actions_t::AUTO_RTL):
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case link_loss_actions_t::AUTO_RTL:
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if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
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main_state_transition(*status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state);
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status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
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@ -852,14 +855,14 @@ void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
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}
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// FALLTHROUGH
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case (link_loss_actions_t::AUTO_LOITER):
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case link_loss_actions_t::AUTO_LOITER:
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if (status_flags.condition_global_position_valid) {
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status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
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return;
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}
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// FALLTHROUGH
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case (link_loss_actions_t::AUTO_LAND):
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case link_loss_actions_t::AUTO_LAND:
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if (status_flags.condition_global_position_valid) {
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status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
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return;
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@ -883,12 +886,12 @@ void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
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}
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// FALLTHROUGH
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case (link_loss_actions_t::TERMINATE):
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case link_loss_actions_t::TERMINATE:
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status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
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armed->force_failsafe = true;
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break;
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case (link_loss_actions_t::LOCKDOWN):
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case link_loss_actions_t::LOCKDOWN:
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armed->lockdown = true;
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break;
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}
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