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px4-firmware
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fix failsafe: correctly handle Hold RC loss action 

Otherwise the additional mode check triggers an RTL which takes precedence
over Hold.
Introduced in 132e9d2439
This commit is contained in:
Beat Küng 2023-03-31 08:01:06 +02:00
parent f7ed553f57
commit aa5b9ae638
1 changed files with 1 additions and 1 deletions
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2
src/modules/commander/failsafe/framework.cpp
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@ -646,6 +646,7 @@ bool FailsafeBase::modeCanRun(const failsafe_flags_s &status_flags, uint8_t mode
{ {
uint32_t mode_mask = 1u << mode; uint32_t mode_mask = 1u << mode;
// mode_req_wind_and_flight_time_compliance: does not need to be handled here (these are separate failsafe triggers) // mode_req_wind_and_flight_time_compliance: does not need to be handled here (these are separate failsafe triggers)
// mode_req_manual_control: is handled separately
return return
(!status_flags.angular_velocity_invalid || ((status_flags.mode_req_angular_velocity & mode_mask) == 0)) && (!status_flags.angular_velocity_invalid || ((status_flags.mode_req_angular_velocity & mode_mask) == 0)) &&
(!status_flags.attitude_invalid || ((status_flags.mode_req_attitude & mode_mask) == 0)) && (!status_flags.attitude_invalid || ((status_flags.mode_req_attitude & mode_mask) == 0)) &&
@ -656,7 +657,6 @@ bool FailsafeBase::modeCanRun(const failsafe_flags_s &status_flags, uint8_t mode
(!status_flags.auto_mission_missing || ((status_flags.mode_req_mission & mode_mask) == 0)) && (!status_flags.auto_mission_missing || ((status_flags.mode_req_mission & mode_mask) == 0)) &&
(!status_flags.offboard_control_signal_lost || ((status_flags.mode_req_offboard_signal & mode_mask) == 0)) && (!status_flags.offboard_control_signal_lost || ((status_flags.mode_req_offboard_signal & mode_mask) == 0)) &&
(!status_flags.home_position_invalid || ((status_flags.mode_req_home_position & mode_mask) == 0)) && (!status_flags.home_position_invalid || ((status_flags.mode_req_home_position & mode_mask) == 0)) &&
(!status_flags.manual_control_signal_lost || ((status_flags.mode_req_manual_control & mode_mask) == 0)) &&
((status_flags.mode_req_other & mode_mask) == 0); ((status_flags.mode_req_other & mode_mask) == 0);
} }