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made invalid setpoints publish once every time it enters an invalid state

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This commit is contained in:
Steven Blass
2014-11-18 08:40:52 -05:00
parent b8ee71220e
commit 69271a7251
1 changed files with 8 additions and 1 deletions
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9
src/modules/navigator/navigator_main.cpp
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@@ -428,12 +428,15 @@ Navigator::task_main()
_can_loiter_at_sp = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
break;
case NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_obc.get() != 0) {
_navigation_mode = &_rcLoss;
} else {
@@ -441,11 +444,13 @@ Navigator::task_main()
}
break;
case NAVIGATION_STATE_AUTO_RTL:
_navigation_mode = &_rtl;
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
_pos_sp_triplet_published_invalid_once = false;
if (_param_datalinkloss_obc.get() != 0) {
_navigation_mode = &_dataLinkLoss;
} else {
@@ -453,9 +458,11 @@ Navigator::task_main()
}
break;
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_engineFailure;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_gpsFailure;
break;
default: