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transition alignment will force heading now and go to RTL if it cannot reach it in time, handle mission failure correctly, reset after mission update, issue message with actual problem

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This commit is contained in:
Andreas Antener
2016-02-13 01:08:07 +01:00
parent bb4decfa8b
commit eb5b8a32ee
11 changed files with 46 additions and 5 deletions
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2
src/modules/commander/state_machine_helper.cpp
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@@ -659,6 +659,8 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->vtol_transition_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status->mission_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
/* datalink loss enabled:
* check for datalink lost: this should always trigger RTGS */