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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-18 23:05:26 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-18 23:05:26 +0200 |
| commit | ffc2a8b7a358a2003e5ed548c41878b33e7aa726 (patch) | |
| tree | 73a2af534135aa4d3ac0c62b202d85dadd0bd981 /src/modules/commander/state_machine_helper.cpp | |
| parent | 2be5240b9f70803417c9648133490409ba40ba55 (diff) | |
| download | px4-firmware-ffc2a8b7a358a2003e5ed548c41878b33e7aa726.tar.gz px4-firmware-ffc2a8b7a358a2003e5ed548c41878b33e7aa726.tar.bz2 px4-firmware-ffc2a8b7a358a2003e5ed548c41878b33e7aa726.zip | |
vehicle_local_position topic updated, position_estimator_inav and commander fixes, only altitude estimate required for SETBELT now.
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 27 |
1 files changed, 7 insertions, 20 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index f313adce4..76c7eaf92 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -217,9 +217,8 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_SEATBELT: - /* need position estimate */ - // TODO only need altitude estimate really - if (current_state->condition_local_position_valid) { + /* need altitude estimate */ + if (current_state->condition_local_altitude_valid) { ret = TRANSITION_CHANGED; } @@ -227,7 +226,7 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_EASY: - /* need position estimate */ + /* need local position estimate */ if (current_state->condition_local_position_valid) { ret = TRANSITION_CHANGED; } @@ -236,8 +235,8 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_AUTO: - /* need position estimate */ - if (current_state->condition_local_position_valid) { + /* need global position estimate */ + if (current_state->condition_global_position_valid) { ret = TRANSITION_CHANGED; } @@ -277,17 +276,6 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_ } else { switch (new_navigation_state) { - case NAVIGATION_STATE_STANDBY: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = false; - control_mode->flag_control_attitude_enabled = false; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = false; - control_mode->flag_control_climb_rate_enabled = false; - control_mode->flag_control_manual_enabled = false; - break; - case NAVIGATION_STATE_DIRECT: ret = TRANSITION_CHANGED; control_mode->flag_control_rates_enabled = true; @@ -394,9 +382,8 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_ case NAVIGATION_STATE_AUTO_LAND: - /* deny transitions from landed states */ - if (current_status->navigation_state != NAVIGATION_STATE_STANDBY && - current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) { + /* deny transitions from landed state */ + if (current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) { ret = TRANSITION_CHANGED; control_mode->flag_control_rates_enabled = true; control_mode->flag_control_attitude_enabled = true; |