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After a GPS_GLITCH without RC control, set mode to LAND. #299

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After a GPS_GLITCH without RC control, set mode to LAND. #299

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45a002d
After a GPS_GLITCH event while in a flight mode that does not require…
nickspeal Aug 23, 2017
16a2986
Do not use GPS if failsafe.gps_glitch is true when entering land mode
nickspeal Sep 1, 2017
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2 changes: 1 addition & 1 deletion ArduCopter/control_land.pde
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ static bool land_ramp;
static bool land_init(bool ignore_checks)
{
// check if we have GPS and decide which LAND we're going to do
land_with_gps = position_ok();
land_with_gps = position_ok() && !failsafe.gps_glitch;
if (land_with_gps) {
// set target to stopping point
Vector3f stopping_point;
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12 changes: 9 additions & 3 deletions ArduCopter/gps_glitch.pde
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Expand Up @@ -14,9 +14,15 @@ static void gps_glitch_on_event() {
failsafe.gps_glitch = true;
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GPS, ERROR_CODE_FAILSAFE_OCCURRED);

if (motors.armed() && mode_requires_RC(control_mode) && mode_requires_GPS(control_mode) && !failsafe.radio && !failsafe.ekf) {
if(set_mode(ALT_HOLD)) {
gps_glitch_switch_mode_on_resolve = true;
if (motors.armed() && mode_requires_GPS(control_mode) && !failsafe.radio && !failsafe.ekf) {
if (mode_requires_RC(control_mode)) {
if(set_mode(ALT_HOLD)) {
gps_glitch_switch_mode_on_resolve = true;
}
} else {
if(set_mode(LAND)) {
gps_glitch_switch_mode_on_resolve = true;
}
}
}
}
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