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[OBC] Outback Challenge Safety Rule 2: Irreversible crash

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This commit is contained in:
Christophe De Wagter
2012-10-08 17:35:32 +02:00
committed by Felix Ruess
parent 7b3408cb43
commit 6c1b685aae
1 changed files with 18 additions and 0 deletions
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sw/airborne/firmwares/fixedwing/main_fbw.c
+18
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@@ -160,6 +160,17 @@ void event_task_fbw( void) {
#endif /**Else the buffer is filled even if the last receive was not correct */
}
#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE
#warning DANGER DANGER DANGER DANGER: Outback Challenge Rule FORCE-CRASH-RULE: DANGER DANGER: AP is now capable to FORCE your FBW in failsafe mode EVEN IF RC IS NOT LOST: Consider the consequences.
int crash = 0;
if (commands[COMMAND_FORCECRASH] >= 8000)
{
set_failsafe_mode();
crash = 1;
}
#endif
#ifdef ACTUATORS
if (fbw_new_actuators > 0)
{
@@ -176,6 +187,13 @@ void event_task_fbw( void) {
SetActuatorsFromCommands(trimmed_commands);
fbw_new_actuators = 0;
#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE
if (crash == 1)
{
for (;;) {}
}
#endif
}
#endif