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commander: Add parameter to control postal fallback after loss of navigation accuracy

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Also remove else if branch that cannot be accessed.
This commit is contained in:
Paul Riseborough
2017-05-06 09:57:17 +10:00
committed by ChristophTobler
parent b85c8fa135
commit 00a42abc69
4 changed files with 27 additions and 6 deletions
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7
src/modules/commander/state_machine_helper.cpp
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@@ -549,7 +549,8 @@ bool set_nav_state(struct vehicle_status_s *status,
bool landed,
const link_loss_actions_t rc_loss_act,
const int offb_loss_act,
const int offb_loss_rc_act)
const int offb_loss_rc_act,
const int posctl_nav_loss_act)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -622,9 +623,7 @@ bool set_nav_state(struct vehicle_status_s *status,
* this enables POSCTL using e.g. flow.
* For fixedwing, a global position is needed. */
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, true, !status->is_rotary_wing)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, true, status->is_rotary_wing)) {
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, !(posctl_nav_loss_act == 1), !status->is_rotary_wing)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;