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introduce new nav state to allow normal rtl with RC switch

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This commit is contained in:
Thomas Gubler
2014-08-26 22:22:59 +02:00
parent 8a9da209d1
commit 3d528a2c97
3 changed files with 6 additions and 2 deletions
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2
src/modules/commander/state_machine_helper.cpp
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@@ -462,7 +462,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTL;
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {

5
src/modules/navigator/navigator_main.cpp
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@@ -433,13 +433,16 @@ Navigator::task_main()
case NAVIGATION_STATE_AUTO_LOITER:
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RCRECOVER:
if (_param_rcloss_obc.get() != 0) {
_navigation_mode = &_rcLoss;
} else {
_navigation_mode = &_rtl;
}
break;
case NAVIGATION_STATE_AUTO_RTL:
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS: //XXX OBC: differentiate between rc loss and dl loss here
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */

1
src/modules/uORB/topics/vehicle_status.h
View File

@@ -102,6 +102,7 @@ typedef enum {
NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */
NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */
NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */
NAVIGATION_STATE_AUTO_RCRECOVER, /**< RC recover mode */
NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */
NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */
NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */