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Add failsafe_procedure

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This commit is contained in:
borisbstyle 2016-02-09 12:06:00 +01:00
parent b745d9e480
commit 99d9d7483f
5 changed files with 27 additions and 9 deletions
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20
src/main/flight/failsafe.c
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@ -18,7 +18,7 @@
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include <platform.h>
#include "debug.h"
@ -167,7 +167,7 @@ void failsafeUpdateState(void)
return;
}
bool receivingRxData = failsafeIsReceivingRxData(); // FIXME - Original check for received data
bool receivingRxData = failsafeIsReceivingRxData();
bool armed = ARMING_FLAG(ARMED);
bool failsafeSwitchIsOn = IS_RC_MODE_ACTIVE(BOXFAILSAFE);
beeperMode_e beeperMode = BEEPER_SILENCE;
@ -222,8 +222,20 @@ void failsafeUpdateState(void)
if (receivingRxData) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
} else {
// Stabilize, and set Throttle to specified level
failsafeActivate();
switch (failsafeConfig->failsafe_procedure) {
default:
case FAILSAFE_PROCEDURE_AUTO_LANDING:
// Stabilize, and set Throttle to specified level
failsafeActivate();
break;
case FAILSAFE_PROCEDURE_DROP_IT:
// Drop the craft
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
break;
}
}
reprocessState = true;
break;