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Commander: Add takeoff command handler. Do not check RC config in SITL RC mode

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This commit is contained in:
Lorenz Meier
2015-11-20 11:15:17 +01:00
parent e96fd83565
commit a242c0ff6d
2 changed files with 70 additions and 5 deletions
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24
src/modules/commander/state_machine_helper.cpp
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@@ -351,6 +351,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case vehicle_status_s::MAIN_STATE_AUTO_MISSION:
case vehicle_status_s::MAIN_STATE_AUTO_RTL:
case vehicle_status_s::MAIN_STATE_AUTO_TAKEOFF:
/* need global position and home position */
if (status->condition_global_position_valid && status->condition_home_position_valid) {
ret = TRANSITION_CHANGED;
@@ -744,6 +745,27 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
}
break;
case vehicle_status_s::MAIN_STATE_AUTO_TAKEOFF:
/* require global position and home */
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if ((!status->condition_global_position_valid ||
!status->condition_home_position_valid)) {
status->failsafe = true;
if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;
}
break;
case vehicle_status_s::MAIN_STATE_OFFBOARD:
/* require offboard control, otherwise stay where you are */
if (status->offboard_control_signal_lost && !status->rc_signal_lost) {
@@ -785,7 +807,7 @@ int preflight_check(struct vehicle_status_s *status, const int mavlink_fd, bool
}
bool preflight_ok = Commander::preflightCheck(mavlink_fd, true, true, true, true,
checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF),
checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
!status->circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
if (!status->cb_usb && status->usb_connected && prearm) {