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add method to block fallback to mission

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failsafe navigation modes can use a flag in mission_result to tell the
commander to not switch back to mission
This commit is contained in:
Thomas Gubler
2014-07-23 22:58:19 +02:00
parent ed19faf428
commit 24f380137e
10 changed files with 53 additions and 38 deletions
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3
src/modules/commander/state_machine_helper.cpp
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@@ -435,7 +435,8 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
/**
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished)
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe)
{
navigation_state_t nav_state_old = status->nav_state;