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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Rover/afs_rover.cpp
Views: 1798
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/*

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  Rover specific AP_AdvancedFailsafe class

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 */

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#include "Rover.h"

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#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED

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/*

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  Setup radio_out values for all channels to termination values

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 */

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void AP_AdvancedFailsafe_Rover::terminate_vehicle(void)

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{

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    // disarm as well

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    AP::arming().disarm(AP_Arming::Method::AFS);

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    // Set to HOLD mode

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    rover.set_mode(rover.mode_hold, ModeReason::CRASH_FAILSAFE);

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}

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/*

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  Return an AFS_MODE for current control mode

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 */

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AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Rover::afs_mode(void)

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{

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    if (rover.control_mode->is_autopilot_mode()) {

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        return AP_AdvancedFailsafe::AFS_AUTO;

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    }

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    return AP_AdvancedFailsafe::AFS_STABILIZED;

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}

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//to force entering auto mode when datalink loss 

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 void AP_AdvancedFailsafe_Rover::set_mode_auto(void)

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 {

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    rover.set_mode(rover.mode_auto,ModeReason::GCS_FAILSAFE);

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 }

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#endif  // AP_ROVER_ADVANCED_FAILSAFE_ENABLED

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