diff options
| author | Julian Oes <julian@oes.ch> | 2014-06-19 10:26:56 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-19 10:26:56 +0200 |
| commit | 62faa2ee5155253779d3b93c5a280e8918585f6e (patch) | |
| tree | 1e9dfd8678df95098333ded38484fb509ecddeb4 /src/modules/commander | |
| parent | 94e004955df3f467b7e67b3fac0d968b9a68e091 (diff) | |
| download | px4-firmware-62faa2ee5155253779d3b93c5a280e8918585f6e.tar.gz px4-firmware-62faa2ee5155253779d3b93c5a280e8918585f6e.tar.bz2 px4-firmware-62faa2ee5155253779d3b93c5a280e8918585f6e.zip | |
commander/navigator: renamed FS modes to RTL and RTGS (return to ground station)
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 6 | ||||
| -rw-r--r-- | src/modules/commander/px4_custom_mode.h | 1 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 12 |
3 files changed, 9 insertions, 10 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 5954dcbb1..b957ad9b5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -649,8 +649,7 @@ int commander_thread_main(int argc, char *argv[]) nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION"; nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER"; nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL"; - nav_states_str[NAVIGATION_STATE_AUTO_FS_RC_LOSS] = "AUTO_FS_RC_LOSS"; - nav_states_str[NAVIGATION_STATE_AUTO_FS_DL_LOSS] = "AUTO_FS_DL_LOSS"; + nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS"; nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO"; nav_states_str[NAVIGATION_STATE_LAND] = "LAND"; nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND"; @@ -1734,8 +1733,7 @@ set_control_mode() case NAVIGATION_STATE_AUTO_MISSION: case NAVIGATION_STATE_AUTO_LOITER: case NAVIGATION_STATE_AUTO_RTL: - case NAVIGATION_STATE_AUTO_FS_RC_LOSS: - case NAVIGATION_STATE_AUTO_FS_DL_LOSS: + case NAVIGATION_STATE_AUTO_RTGS: 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/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index e0f8dc95d..7f5f93801 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -25,6 +25,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO { PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4_CUSTOM_SUB_MODE_AUTO_LAND, + PX4_CUSTOM_SUB_MODE_AUTO_RTGS }; union px4_custom_mode { diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index f0fe13921..74885abf6 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -384,7 +384,7 @@ 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_FS_RC_LOSS; + status->nav_state = NAVIGATION_STATE_AUTO_RTL; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -427,7 +427,7 @@ 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_FS_RC_LOSS; + status->nav_state = NAVIGATION_STATE_AUTO_RTL; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -441,7 +441,7 @@ 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_FS_DL_LOSS; + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -467,7 +467,7 @@ 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_FS_RC_LOSS; + status->nav_state = NAVIGATION_STATE_AUTO_RTL; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -481,7 +481,7 @@ 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_FS_DL_LOSS; + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -495,7 +495,7 @@ 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_FS_DL_LOSS; + status->nav_state = NAVIGATION_STATE_AUTO_RTGS; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { |