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Add new stabilize mode

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This commit is contained in:
Lorenz Meier
2015-05-17 12:58:44 +02:00
parent 2f80ddd11a
commit 8e935e6fa6
4 changed files with 92 additions and 12 deletions
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6
src/modules/commander/state_machine_helper.cpp
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@@ -299,6 +299,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
switch (new_main_state) {
case vehicle_status_s::MAIN_STATE_MANUAL:
case vehicle_status_s::MAIN_STATE_ACRO:
case vehicle_status_s::MAIN_STATE_STAB:
ret = TRANSITION_CHANGED;
break;
@@ -488,6 +489,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
switch (status->main_state) {
case vehicle_status_s::MAIN_STATE_ACRO:
case vehicle_status_s::MAIN_STATE_MANUAL:
case vehicle_status_s::MAIN_STATE_STAB:
case vehicle_status_s::MAIN_STATE_ALTCTL:
case vehicle_status_s::MAIN_STATE_POSCTL:
/* require RC for all manual modes */
@@ -514,6 +516,10 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
break;
case vehicle_status_s::MAIN_STATE_STAB:
status->nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
break;
case vehicle_status_s::MAIN_STATE_ALTCTL:
status->nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
break;