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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-26 22:22:59 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-26 22:22:59 +0200 |
| commit | 3d528a2c979e7d0df1171afc1f038759c7b01383 (patch) | |
| tree | 5119ba64f72c21c946c0fa8d94d5ed5a4696739c /src/modules/navigator/navigator_main.cpp | |
| parent | 8a9da209d194b4f35000935379901ed6091091f9 (diff) | |
| download | px4-firmware-3d528a2c979e7d0df1171afc1f038759c7b01383.tar.gz px4-firmware-3d528a2c979e7d0df1171afc1f038759c7b01383.tar.bz2 px4-firmware-3d528a2c979e7d0df1171afc1f038759c7b01383.zip | |
introduce new nav state to allow normal rtl with RC switch
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index c173ecd50..9a8c54e7e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -433,13 +433,16 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_LOITER: _navigation_mode = &_loiter; break; - case NAVIGATION_STATE_AUTO_RTL: + case NAVIGATION_STATE_AUTO_RCRECOVER: if (_param_rcloss_obc.get() != 0) { _navigation_mode = &_rcLoss; } else { _navigation_mode = &_rtl; } break; + case NAVIGATION_STATE_AUTO_RTL: + _navigation_mode = &_rtl; + break; case NAVIGATION_STATE_AUTO_RTGS: //XXX OBC: differentiate between rc loss and dl loss here /* Use complex data link loss mode only when enabled via param * otherwise use rtl */ |