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engine_failure flag 

Added engine_failure flag to behicle status, alsoset_nav_state in the
state machine helper takes this flag into account
This commit is contained in:
Thomas Gubler 2014-07-24 22:29:04 +02:00
parent 303664d94a
commit 1b2f9070ea
2 changed files with 18 additions and 7 deletions
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19
src/modules/commander/state_machine_helper.cpp
View File

@ -490,9 +490,12 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
case MAIN_STATE_AUTO_MISSION:
/* go into failsafe
* - if we have an engine failure
* - if either the datalink is enabled and lost as well as RC is lost
* - if there is no datalink and the mission is finished */
if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
status->failsafe = true;
@ -532,8 +535,10 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
break;
case MAIN_STATE_AUTO_LOITER:
/* go into failsafe if datalink and RC is lost */
if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) {
/* go into failsafe on a engine failure or if datalink and RC is lost */
if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
@ -586,8 +591,12 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
break;
case MAIN_STATE_AUTO_RTL:
/* require global position and home */
if ((!status->condition_global_position_valid || !status->condition_home_position_valid)) {
/* require global position and home, also go into failsafe on an engine failure */
if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if ((!status->condition_global_position_valid ||
!status->condition_home_position_valid)) {
status->failsafe = true;
if (status->condition_local_position_valid) {

6
src/modules/uORB/topics/vehicle_status.h
View File

@ -201,8 +201,10 @@ struct vehicle_status_s {
bool rc_signal_lost; /**< true if RC reception lost */
bool rc_input_blocked; /**< set if RC input should be ignored */
bool data_link_lost; /**< datalink to GCS lost */
uint8_t data_link_lost_counter; /**< counts unique data link lost events */
bool data_link_lost; /**< datalink to GCS lost */
uint8_t data_link_lost_counter; /**< counts unique data link lost events */
bool engine_failure; /** Set to true if an engine failure is detected */
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;