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commander: add orbit state handling

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This commit is contained in:
Matthias Grob
2018-11-25 11:11:51 +00:00
parent 77d37c5b7f
commit 34fb52d8bd
2 changed files with 34 additions and 2 deletions
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16
src/modules/commander/state_machine_helper.cpp
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@@ -294,8 +294,9 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
break;
case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET:
case commander_state_s::MAIN_STATE_ORBIT:
/* FOLLOW only implemented in MC */
/* Follow and orbit only implemented for multicopter */
if (status.is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
@@ -586,6 +587,19 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
break;
case commander_state_s::MAIN_STATE_ORBIT:
/* require local position */
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_ORBIT;
}
break;
case commander_state_s::MAIN_STATE_AUTO_TAKEOFF:
/* require local position */