diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-26 22:22:59 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-26 22:22:59 +0200 |
| commit | 3d528a2c979e7d0df1171afc1f038759c7b01383 (patch) | |
| tree | 5119ba64f72c21c946c0fa8d94d5ed5a4696739c | |
| parent | 8a9da209d194b4f35000935379901ed6091091f9 (diff) | |
| download | px4-firmware-3d528a2c979e7d0df1171afc1f038759c7b01383.tar.gz px4-firmware-3d528a2c979e7d0df1171afc1f038759c7b01383.tar.bz2 px4-firmware-3d528a2c979e7d0df1171afc1f038759c7b01383.zip | |
introduce new nav state to allow normal rtl with RC switch
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 2 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 5 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 1 |
3 files changed, 6 insertions, 2 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 098ff1a3d..e3b5d30e4 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -462,7 +462,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en status->failsafe = true; if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; + status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index c173ecd50..9a8c54e7e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -433,13 +433,16 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_LOITER: _navigation_mode = &_loiter; break; - case NAVIGATION_STATE_AUTO_RTL: + case NAVIGATION_STATE_AUTO_RCRECOVER: if (_param_rcloss_obc.get() != 0) { _navigation_mode = &_rcLoss; } else { _navigation_mode = &_rtl; } break; + case NAVIGATION_STATE_AUTO_RTL: + _navigation_mode = &_rtl; + break; case NAVIGATION_STATE_AUTO_RTGS: //XXX OBC: differentiate between rc loss and dl loss here /* Use complex data link loss mode only when enabled via param * otherwise use rtl */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index ad92f5b26..9dccb2309 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -102,6 +102,7 @@ typedef enum { NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */ NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */ + NAVIGATION_STATE_AUTO_RCRECOVER, /**< RC recover mode */ NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */ NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */ NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */ |