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flight termination on gps failure && datalink loss: do not activate in manual modes

This commit is contained in:
Thomas Gubler 2014-08-26 23:12:28 +02:00
parent 5e5322c593
commit 9cc1f1ab9d
1 changed files with 8 additions and 3 deletions
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11
src/modules/commander/commander.cpp
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@ -1605,9 +1605,14 @@ int commander_thread_main(int argc, char *argv[])
/* Check for failure combinations which lead to flight termination */
if (armed.armed) {
/* At this point the data link and the gps system have been checked
* If both failed we want to terminate the flight */
if ((status.data_link_lost && status.gps_failure) ||
(status.data_link_lost_cmd && status.gps_failure_cmd)) {
* If we are not in a manual (RC stick controlled mode)
* and both failed we want to terminate the flight */
if (status.main_state != MAIN_STATE_MANUAL &&
status.main_state != MAIN_STATE_ACRO &&
status.main_state != MAIN_STATE_ALTCTL &&
status.main_state != MAIN_STATE_POSCTL &&
((status.data_link_lost && status.gps_failure) ||
(status.data_link_lost_cmd && status.gps_failure_cmd))) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;