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define BOOZ_KILL_AS_FAILSAFE if you want that behaviour

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This commit is contained in:
Felix Ruess
2010-03-09 17:20:39 +00:00
parent e67b099429
commit 475effd0c8
1 changed files with 4 additions and 0 deletions
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sw/airborne/booz/booz2_autopilot.c
+4
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@@ -102,10 +102,12 @@ void booz2_autopilot_set_mode(uint8_t new_autopilot_mode) {
/* horizontal mode */
switch (new_autopilot_mode) {
case BOOZ2_AP_MODE_FAILSAFE:
#ifndef BOOZ_KILL_AS_FAILSAFE
booz_stab_att_sp_euler.phi = 0;
booz_stab_att_sp_euler.theta = 0;
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_ATTITUDE);
break;
#endif
case BOOZ2_AP_MODE_KILL:
booz2_autopilot_motors_on = FALSE;
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_KILL);
@@ -131,9 +133,11 @@ void booz2_autopilot_set_mode(uint8_t new_autopilot_mode) {
/* vertical mode */
switch (new_autopilot_mode) {
case BOOZ2_AP_MODE_FAILSAFE:
#ifndef BOOZ_KILL_AS_FAILSAFE
booz2_guidance_v_zd_sp = SPEED_BFP_OF_REAL(0.5);
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_CLIMB);
break;
#endif
case BOOZ2_AP_MODE_KILL:
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_KILL);
break;