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commander : add support for precision landing measurements

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This commit is contained in:
Nicolas de Palezieux
2018-01-14 23:23:14 +05:30
committed by Lorenz Meier
parent d9b9b4407a
commit f2dbb0ad3b
2 changed files with 40 additions and 0 deletions
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25
src/modules/commander/state_machine_helper.cpp
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@@ -481,6 +481,15 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
break;
case commander_state_s::MAIN_STATE_AUTO_PRECLAND:
/* need local and global position, and precision land only implemented for multicopters */
if (status_flags->condition_local_position_valid && status_flags->condition_global_position_valid && status->is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_OFFBOARD:
/* need offboard signal */
@@ -849,6 +858,22 @@ bool set_nav_state(struct vehicle_status_s *status,
break;
case commander_state_s::MAIN_STATE_AUTO_PRECLAND:
/* must be rotary wing plus same requirements as normal landing */
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
}
break;
case commander_state_s::MAIN_STATE_OFFBOARD:
/* require offboard control, otherwise stay where you are */