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navigator: lot's of cleanup (WIP)

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This commit is contained in:
Julian Oes
2014-04-21 17:36:59 +02:00
parent 488785250f
commit c3c0328e8b
21 changed files with 980 additions and 953 deletions
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6
src/modules/commander/state_machine_helper.cpp
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@@ -450,8 +450,7 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
/* global position and home position required for RTL */
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->set_nav_state = NAV_STATE_RTL;
status->set_nav_state_timestamp = hrt_absolute_time();
status->set_nav_state = NAVIGATION_STATE_RTL;
ret = TRANSITION_CHANGED;
}
@@ -461,8 +460,7 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
/* at least relative altitude estimate required for landing */
if (status->condition_local_altitude_valid || status->condition_global_position_valid) {
status->set_nav_state = NAV_STATE_LAND;
status->set_nav_state_timestamp = hrt_absolute_time();
status->set_nav_state = NAVIGATION_STATE_LAND;
ret = TRANSITION_CHANGED;
}