dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

vehicle_status delete engine_failure_cmd

This commit is contained in:
Daniel Agar 2017-12-20 18:01:27 -05:00 committed by Lorenz Meier
parent 17e17d79dd
commit fc7c8b4b89
5 changed files with 5 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
msg/vehicle_status.msg
View File

@ -63,7 +63,6 @@ uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual co
bool data_link_lost # datalink to GCS lost
uint8 data_link_lost_counter # counts unique data link lost events
bool engine_failure # Set to true if an engine failure is detected
bool engine_failure_cmd # Set to true if an engine failure mode is commanded
bool mission_failure # Set to true if mission could not continue/finish
# see SYS_STATUS mavlink message for the following

8
src/modules/commander/commander.cpp
View File

@ -957,17 +957,9 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
armed_local->force_failsafe = true;
warnx("forcing failsafe (termination)");
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
if ((int)cmd->param2 <= 0) {
/* reset all commanded failure modes */
warnx("reset all non-flighttermination failsafe commands");
} else if ((int)cmd->param2 == 1) {
/* trigger engine failure mode */
status_local->engine_failure_cmd = true;
warnx("engine failure mode commanded");
}
} else {

6
src/modules/commander/state_machine_helper.cpp
View File

@ -668,11 +668,7 @@ bool set_nav_state(struct vehicle_status_s *status,
* - if we have vtol transition failure
* - depending on datalink, RC and if the mission is finished */
/* first look at the commands */
if (status->engine_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure) {
if (status_flags->gps_failure) {
if (status->is_rotary_wing) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;

11
src/modules/fw_att_control/fw_att_control_main.cpp
View File

@ -1125,10 +1125,8 @@ FixedwingAttitudeControl::task_main()
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp)
&& !_vehicle_status.engine_failure) ? throttle_sp : 0.0f;
/* scale effort by battery status */
if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&
@ -1169,10 +1167,7 @@ FixedwingAttitudeControl::task_main()
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
//!(_vehicle_status.engine_failure ||
!_vehicle_status.engine_failure_cmd) ?
throttle_sp : 0.0f;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
}
/*

2
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -1786,7 +1786,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
_reinitialize_tecs = false;
}
if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
if (_vehicle_status.engine_failure) {
/* Force the slow downwards spiral */
pitch_min_rad = M_DEG_TO_RAD_F * -1.0f;
pitch_max_rad = M_DEG_TO_RAD_F * 5.0f;