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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-19 20:03:37 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-19 20:03:37 +0200 |
| commit | b5ef8fd2cd54d180b5debe362a4c1f07f64394af (patch) | |
| tree | 46b9d8713629703eddb923fa644490fb46f1c3ec /src/modules/navigator/navigator_main.cpp | |
| parent | 7baa337d9bcf7077a5e5080e951899cb595f6ff6 (diff) | |
| download | px4-firmware-b5ef8fd2cd54d180b5debe362a4c1f07f64394af.tar.gz px4-firmware-b5ef8fd2cd54d180b5debe362a4c1f07f64394af.tar.bz2 px4-firmware-b5ef8fd2cd54d180b5debe362a4c1f07f64394af.zip | |
create empty datalinkloss class for OBC
Currently the class does the same as the RTL class. It is now possible
whichclass is sued in the navigator to handle datalink loss via a
parameter
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index ba46bd568..1ce6770c9 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -40,6 +40,7 @@ * @author Jean Cyr <jean.m.cyr@gmail.com> * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -125,10 +126,12 @@ Navigator::Navigator() : _loiter(this, "LOI"), _rtl(this, "RTL"), _offboard(this, "OFF"), + _dataLinkLoss(this, "DLL"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), - _param_acceptance_radius(this, "ACC_RAD") + _param_acceptance_radius(this, "ACC_RAD"), + _param_datalinkloss_obc(this, "DLL_OBC") { /* Create a list of our possible navigation types */ _navigation_mode_array[0] = &_mission; @@ -376,7 +379,13 @@ Navigator::task_main() _navigation_mode = &_rtl; break; case NAVIGATION_STATE_AUTO_RTGS: - _navigation_mode = &_rtl; /* TODO: change this to something else */ + /* Use complex data link loss mode only when enabled via param + * otherwise use rtl */ + if (_param_datalinkloss_obc.get() != 0) { + _navigation_mode = &_dataLinkLoss; + } else { + _navigation_mode = &_rtl; /* TODO: change this to something else */ + } break; case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: |