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commander remove gps receiver checks

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This commit is contained in:
Daniel Agar
2018-02-18 17:24:01 -05:00
committed by Lorenz Meier
parent a6e863ac89
commit 4e45d7959c
4 changed files with 15 additions and 138 deletions
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35
src/modules/commander/state_machine_helper.cpp
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@@ -71,7 +71,6 @@ using namespace DriverFramework;
static const char reason_no_rc[] = "no RC";
static const char reason_no_offboard[] = "no offboard";
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_local_position[] = "no local position";
static const char reason_no_global_position[] = "no global position";
static const char reason_no_datalink[] = "no datalink";
@@ -696,18 +695,7 @@ bool set_nav_state(struct vehicle_status_s *status,
* - if we have vtol transition failure
* - depending on datalink, RC and if the mission is finished */
if (status_flags->gps_failure) {
if (status->is_rotary_wing) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
// TODO: FW position controller doesn't run without condition_global_position_valid
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
}
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
@@ -747,16 +735,6 @@ bool set_nav_state(struct vehicle_status_s *status,
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure) {
if (status->is_rotary_wing) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
}
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status->data_link_lost && data_link_loss_act_configured && !landed) {
@@ -791,17 +769,6 @@ bool set_nav_state(struct vehicle_status_s *status,
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure) {
if (status->is_rotary_wing) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
// TODO: FW position controller doesn't run without condition_global_position_valid
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
}
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {