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gpsfailure: add skeleton class, activate in commander

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Thomas Gubler
2014-08-20 07:45:01 +02:00
parent 64ca94412e
commit 760a7ff548
7 changed files with 272 additions and 5 deletions
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7
src/modules/commander/state_machine_helper.cpp
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@@ -499,12 +499,15 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->data_link_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
//} else if (status->gps_failure_cmd) {
//status->nav_state = NAVIGATION_STATE_AUTO_***;
} else if (status->gps_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->rc_signal_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX
/* Finished handling commands which have priority , now handle failures */
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->gps_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
status->failsafe = true;