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[OBC] Outback Challenge Safety Rule 1

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This commit is contained in:
Christophe De Wagter
2012-10-08 17:33:39 +02:00
committed by Felix Ruess
parent 98bf775475
commit 7b3408cb43
1 changed files with 7 additions and 0 deletions
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sw/airborne/firmwares/fixedwing/main_fbw.c
+7
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@@ -139,9 +139,11 @@ void event_task_fbw( void) {
inter_mcu_event_task();
command_roll_trim = ap_state->command_roll_trim;
command_pitch_trim = ap_state->command_pitch_trim;
#ifndef OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
if (ap_ok && fbw_mode == FBW_MODE_FAILSAFE) {
fbw_mode = FBW_MODE_AUTO;
}
#endif
if (fbw_mode == FBW_MODE_AUTO) {
SetCommands(ap_state->commands);
}
@@ -196,7 +198,12 @@ void periodic_task_fbw( void ) {
#ifdef RADIO_CONTROL
radio_control_periodic_task();
if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
#ifdef OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
#warning WARNING DANGER: OUTBACK_CHALLENGE RULE RC_LOST_NO_AP defined. If you loose RC you will NOT go to automatically go to AUTO2 Anymore!!
set_failsafe_mode();
#else
fbw_mode = FBW_MODE_AUTO;
#endif
}
#endif