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| author | Julian Oes <julian@oes.ch> | 2014-06-12 19:09:18 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-12 19:09:18 +0200 |
| commit | d48a8bc073a3aa5f515c582a1c2c3cae58a8d783 (patch) | |
| tree | a9c3ecbb3976fd134122c87b9a2614fc801bd413 /src/modules/commander | |
| parent | d9a64bb58720300417f190b8a8b610ab2966a11f (diff) | |
| download | px4-firmware-d48a8bc073a3aa5f515c582a1c2c3cae58a8d783.tar.gz px4-firmware-d48a8bc073a3aa5f515c582a1c2c3cae58a8d783.tar.bz2 px4-firmware-d48a8bc073a3aa5f515c582a1c2c3cae58a8d783.zip | |
navigator: renamed the different RTL states
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 10 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 8 |
2 files changed, 9 insertions, 9 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bb75b2af0..e992706ac 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1300,7 +1300,7 @@ int commander_thread_main(int argc, char *argv[]) /* if we have a global position, we can switch to RTL, if not, we can try to land */ if (status.condition_global_position_valid) { - status.failsafe_state = FAILSAFE_STATE_RTL_RC; + status.failsafe_state = FAILSAFE_STATE_RC_LOSS; } else { status.failsafe_state = FAILSAFE_STATE_LAND; } @@ -1313,10 +1313,10 @@ int commander_thread_main(int argc, char *argv[]) /* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */ if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION && - mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RTL_RC) { + mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RC_LOSS) { /* if we have a global position, we can switch to RTL, if not, we can try to land */ if (status.condition_global_position_valid) { - status.failsafe_state = FAILSAFE_STATE_RTL_RC; + status.failsafe_state = FAILSAFE_STATE_RC_LOSS; mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished"); } else { /* this probably doesn't make sense since we are in mission and have global position */ @@ -1719,8 +1719,8 @@ set_control_mode() case NAVIGATION_STATE_AUTO_MISSION: case NAVIGATION_STATE_AUTO_LOITER: case NAVIGATION_STATE_AUTO_RTL: - case NAVIGATION_STATE_AUTO_RTL_RC: - case NAVIGATION_STATE_AUTO_RTL_DL: + case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS: + case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS: control_mode.flag_control_manual_enabled = false; control_mode.flag_control_auto_enabled = true; control_mode.flag_control_rates_enabled = true; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 214480079..c52e618ef 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -406,12 +406,12 @@ void set_nav_state(struct vehicle_status_s *status) } break; - case FAILSAFE_STATE_RTL_RC: - status->set_nav_state = NAVIGATION_STATE_AUTO_RTL_RC; + case FAILSAFE_STATE_RC_LOSS: + status->set_nav_state = NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS; break; - case FAILSAFE_STATE_RTL_DL: - status->set_nav_state = NAVIGATION_STATE_AUTO_RTL_DL; + case FAILSAFE_STATE_DL_LOSS: + status->set_nav_state = NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS; break; case FAILSAFE_STATE_LAND: |