Changeset 186 in flair-src for trunk/lib/FlairMeta/src/UavStateMachine.cpp

Timestamp:

Jun 23, 2017, 5:33:03 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

maj imu

File:

• trunk/lib/FlairMeta/src/UavStateMachine.cpp (modified) (2 diffs)

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -460 +460 @@
   flagZTrajectoryFinished = false;
 
-  if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()  && uav->GetBatteryMonitor()->IsBatteryLow()==false) {
+  if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()  && uav->GetBatteryMonitor()->IsBatteryLow()==false && !flagConnectionLost) {
     //The uav always takes off in fail safe mode
     flagBatteryLow=false;
@@ -573 +573 @@
   if (getFrameworkManager()->ConnectionLost() && !flagConnectionLost) {
     flagConnectionLost = true;
-    Thread::Err("Connection lost\n");
+    
     EnterFailSafeMode();
     if (altitudeState == AltitudeState_t::Stopped) {
-      SafeStop();
+      Thread::Warn("Connection lost\n");
+      Thread::Warn("UAV won't take off\n");
     } else {
+      Thread::Err("Connection lost\n");
       Land();
     }