Changeset 157 in flair-src for trunk/lib/FlairMeta/src/UavStateMachine.cpp
- Timestamp:
- Mar 4, 2017, 3:29:18 PM (8 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairMeta/src/UavStateMachine.cpp
r153 r157 460 460 flagZTrajectoryFinished = false; 461 461 462 if((altitudeState==AltitudeState_t::Stopped) && safeToFly) {// && GetBatteryMonitor()->IsBatteryLow()==false)463 464 465 466 467 468 462 if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()) {// && GetBatteryMonitor()->IsBatteryLow()==false) 463 //The uav always takes off in fail safe mode 464 EnterFailSafeMode(); 465 joy->SetLedOFF(4);//DualShock3::led4 466 joy->SetLedOFF(1);//DualShock3::led1 467 joy->Rumble(0x70); 468 joy->SetZRef(0); 469 469 470 470 uZ->SetOffset(); // positionne l'offset de compensation de la gravité à sa … … 481 481 SignalEvent(Event_t::TakingOff); 482 482 } else { 483 Warn("cannot takeoff\n"); 483 484 joy->ErrorNotify(); 484 485 }
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