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Sub: small Auto_TerrainRecover fixes

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Clyde McQueen
2026-06-22 14:16:59 -03:00
committed by Willian Galvani
parent 25dd465429
commit c883e46d79
1 changed files with 3 additions and 1 deletions
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ArduSub/mode_auto.cpp
+3 -1
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@@ -497,7 +497,7 @@ void ModeAuto::auto_terrain_recover_run()
break;
case RangeFinder::Status::OutOfRangeHigh:
target_climb_rate = sub.wp_nav.get_default_speed_down_cms();
target_climb_rate = -sub.wp_nav.get_default_speed_down_cms();
rangefinder_recovery_ms = 0;
break;
@@ -538,6 +538,7 @@ void ModeAuto::auto_terrain_recover_run()
#else
gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery failure: No Rangefinder!");
sub.failsafe_terrain_act();
return;
#endif
// exit on failure (timeout)
@@ -545,6 +546,7 @@ void ModeAuto::auto_terrain_recover_run()
// Recovery has failed, revert to failsafe action
gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery timeout!");
sub.failsafe_terrain_act();
return;
}
// run loiter controller