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author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-13 11:06:49 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-13 11:06:49 +0400 |
commit | 88149311ea687b62ba28e036e7de09ed2763f2bc (patch) | |
tree | 9c332da18da9580602e6040bb4eefc160a0c6ec5 /src/modules/navigator/navigator_main.cpp | |
parent | dfd9601b571057e73668d9b39d584bc4eb9cc305 (diff) | |
parent | 0b97dd2b776ce61fd53776f036230ea0089e26e9 (diff) | |
download | px4-firmware-88149311ea687b62ba28e036e7de09ed2763f2bc.tar.gz px4-firmware-88149311ea687b62ba28e036e7de09ed2763f2bc.tar.bz2 px4-firmware-88149311ea687b62ba28e036e7de09ed2763f2bc.zip |
Merge branch 'rc_timeout' into mpc_rc
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 102 |
1 files changed, 33 insertions, 69 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 810ef457f..031545b8f 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -690,84 +690,46 @@ Navigator::task_main() if (fds[6].revents & POLLIN) { vehicle_status_update(); - /* evaluate state machine from commander and set the navigator mode accordingly */ + /* evaluate state requested by commander */ if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { - bool stick_mode = false; - - if (!_vstatus.rc_signal_lost) { - /* RC signal available, use control switches to set mode */ - /* RETURN switch, overrides MISSION switch */ - if (_vstatus.return_switch == RETURN_SWITCH_RETURN) { - /* switch to RTL if not already landed after RTL and home position set */ + if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { + /* commander requested new navigation mode, try to set it */ + switch (_vstatus.set_nav_state) { + case NAV_STATE_NONE: + /* nothing to do */ + break; + + case NAV_STATE_LOITER: + request_loiter_or_ready(); + break; + + case NAV_STATE_MISSION: + request_mission_if_available(); + break; + + case NAV_STATE_RTL: if (!(_rtl_state == RTL_STATE_DESCEND && - (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && - _vstatus.condition_home_position_valid) { + (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && + _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); } - stick_mode = true; + break; - } else { - /* MISSION switch */ - if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) { - request_loiter_or_ready(); - stick_mode = true; + case NAV_STATE_LAND: + dispatch(EVENT_LAND_REQUESTED); - } else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) { - request_mission_if_available(); - stick_mode = true; - } + break; - if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) { - /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ - request_mission_if_available(); - stick_mode = true; - } + default: + warnx("ERROR: Requested navigation state not supported"); + break; } - } - - if (!stick_mode) { - if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { - /* commander requested new navigation mode, try to set it */ - _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; - - switch (_vstatus.set_nav_state) { - case NAV_STATE_NONE: - /* nothing to do */ - break; - - case NAV_STATE_LOITER: - request_loiter_or_ready(); - break; - - case NAV_STATE_MISSION: - request_mission_if_available(); - break; - case NAV_STATE_RTL: - if (!(_rtl_state == RTL_STATE_DESCEND && - (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && - _vstatus.condition_home_position_valid) { - dispatch(EVENT_RTL_REQUESTED); - } - - break; - - case NAV_STATE_LAND: - dispatch(EVENT_LAND_REQUESTED); - - break; - - default: - warnx("ERROR: Requested navigation state not supported"); - break; - } - - } else { - /* on first switch to AUTO try mission by default, if none is available fallback to loiter */ - if (myState == NAV_STATE_NONE) { - request_mission_if_available(); - } + } else { + /* on first switch to AUTO try mission by default, if none is available fallback to loiter */ + if (myState == NAV_STATE_NONE) { + request_mission_if_available(); } } @@ -775,6 +737,8 @@ Navigator::task_main() /* navigator shouldn't act */ dispatch(EVENT_NONE_REQUESTED); } + + _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; } /* parameters updated */ @@ -1539,7 +1503,7 @@ Navigator::check_mission_item_reached() /* check yaw if defined only for rotary wing except takeoff */ float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); - if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */ + if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */ _waypoint_yaw_reached = true; } |