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| author | Julian Oes <julian@oes.ch> | 2014-06-27 11:02:47 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-27 11:02:47 +0200 |
| commit | 19fad94a34da757002fe8d608c125a3afa57e091 (patch) | |
| tree | 0f6b07affbef58be0566bdcbe5bc682eaa4b9201 /src/modules/commander | |
| parent | 7f41ec52f15191f7a0bbc0ec32301c3135184840 (diff) | |
| parent | 1bae18377a444279f91b75281ffde5da70cc6086 (diff) | |
| download | px4-firmware-19fad94a34da757002fe8d608c125a3afa57e091.tar.gz px4-firmware-19fad94a34da757002fe8d608c125a3afa57e091.tar.bz2 px4-firmware-19fad94a34da757002fe8d608c125a3afa57e091.zip | |
Merge branch 'navigator_rewrite' into navigator_rewrite_estimator
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 30 |
1 files changed, 26 insertions, 4 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index df7a4c886..0163ee4fb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1612,10 +1612,10 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; // changed successfully or already in this state } - // else fallback to ALTCTL print_reject_mode(status, "POSCTL"); } + // fallback to ALTCTL res = main_state_transition(status, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { @@ -1626,7 +1626,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin print_reject_mode(status, "ALTCTL"); } - // else fallback to MANUAL + // fallback to MANUAL res = main_state_transition(status, MAIN_STATE_MANUAL); // TRANSITION_DENIED is not possible here break; @@ -1638,28 +1638,50 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state } + + print_reject_mode(status, "AUTO_RTL"); + + // 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 + } + } else if (sp_man->loiter_switch == SWITCH_POS_ON) { res = main_state_transition(status, MAIN_STATE_AUTO_LOITER); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state } + + print_reject_mode(status, "AUTO_LOITER"); + } else { res = main_state_transition(status, MAIN_STATE_AUTO_MISSION); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state } + + print_reject_mode(status, "AUTO_MISSION"); } - // else fallback to ALTCTL (POSCTL likely will not work too) + // fallback to POSCTL + res = main_state_transition(status, MAIN_STATE_POSCTL); + + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } + + // fallback to ALTCTL res = main_state_transition(status, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state } - // else fallback to MANUAL + // fallback to MANUAL res = main_state_transition(status, MAIN_STATE_MANUAL); // TRANSITION_DENIED is not possible here break; |