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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 14:30:38 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 14:30:38 +0200 |
| commit | be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc (patch) | |
| tree | a56ff050d1de9264e464cd511f1a2a06b20c511b /src/modules/commander | |
| parent | 77ca6fa8a3d3990bf75a02da70b25c7a0c6ae91e (diff) | |
| parent | 06f08ad04d4cb21047944f350e4a75e88914e1e1 (diff) | |
| download | px4-firmware-be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc.tar.gz px4-firmware-be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc.tar.bz2 px4-firmware-be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc.zip | |
Merge pull request #1119 from PX4/navigator_rewrite_drton
Navigator rewrite - DrTon
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 7 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 2 |
2 files changed, 8 insertions, 1 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3d4a297f7..270aa2a1a 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1747,6 +1747,13 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin } print_reject_mode(status, "AUTO_MISSION"); + + // fallback to LOITER if home position not set + res = main_state_transition(status, MAIN_STATE_AUTO_LOITER); + + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } } // fallback to POSCTL diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 423ce2f23..7fb2e08db 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -271,7 +271,6 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta } break; - case MAIN_STATE_AUTO_MISSION: case MAIN_STATE_AUTO_LOITER: /* need global position estimate */ if (status->condition_global_position_valid) { @@ -279,6 +278,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta } break; + case MAIN_STATE_AUTO_MISSION: case MAIN_STATE_AUTO_RTL: /* need global position and home position */ if (status->condition_global_position_valid && status->condition_home_position_valid) { |