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added auto takeoff support, updated configuration for solo and generalized landing mission items

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This commit is contained in:
Andreas Antener
2015-12-17 00:11:50 +01:00
committed by Lorenz Meier
parent 3847c826ec
commit fbf42c8949
13 changed files with 287 additions and 30 deletions
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21
src/modules/commander/state_machine_helper.cpp
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@@ -352,6 +352,7 @@ 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:
case vehicle_status_s::MAIN_STATE_AUTO_LAND:
/* need global position and home position */
if (status->condition_global_position_valid && status->condition_home_position_valid) {
ret = TRANSITION_CHANGED;
@@ -373,6 +374,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
}
if (ret == TRANSITION_CHANGED) {
if (status->main_state != new_main_state) {
status->main_state_prev = status->main_state;
status->main_state = new_main_state;
} else {
ret = TRANSITION_NOT_CHANGED;
@@ -766,6 +768,25 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
}
break;
case vehicle_status_s::MAIN_STATE_AUTO_LAND:
/* 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_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_LAND;
}
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) {