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enable takeoff in gps denied areas and minor requested changes

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ChristophTobler
2017-02-13 09:42:31 +01:00
committed by Lorenz Meier
parent 64092f087f
commit 0263ab8cd2
3 changed files with 19 additions and 24 deletions
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13
src/modules/commander/state_machine_helper.cpp
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@@ -77,6 +77,7 @@ static const char reason_no_rc_and_no_offboard[] = "no RC and no offboard";
static const char reason_no_gps[] = "no gps";
static const char reason_no_gps_cmd[] = "no gps cmd";
static const char reason_no_home[] = "no home";
static const char reason_no_local_position[] = "no local position";
static const char reason_no_datalink[] = "no datalink";
// This array defines the arming state transitions. The rows are the new state, and the columns
@@ -940,13 +941,13 @@ bool set_nav_state(struct vehicle_status_s *status,
case commander_state_s::MAIN_STATE_AUTO_TAKEOFF:
/* require global position and home */
/* require local position */
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure || !status_flags->condition_local_position_valid) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
} else if (!status_flags->condition_local_position_valid) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_local_position);
if (status_flags->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
@@ -966,13 +967,13 @@ bool set_nav_state(struct vehicle_status_s *status,
case commander_state_s::MAIN_STATE_AUTO_LAND:
/* require global position and home */
/* require local position */
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure || !status_flags->condition_local_position_valid) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
} else if (!status_flags->condition_local_position_valid) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_local_position);
if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;