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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-22 23:06:14 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-22 23:06:14 +0200 |
| commit | fd3746a233b0ef16758e0171da0ee7e71ff58887 (patch) | |
| tree | 0cee4bc7e746d8d78ccd2035a767d838354d2e41 /src/modules/navigator/navigator_main.cpp | |
| parent | 6ae8800ad09caf9194240ec75067af5ef56a5a23 (diff) | |
| download | px4-firmware-fd3746a233b0ef16758e0171da0ee7e71ff58887.tar.gz px4-firmware-fd3746a233b0ef16758e0171da0ee7e71ff58887.tar.bz2 px4-firmware-fd3746a233b0ef16758e0171da0ee7e71ff58887.zip | |
add OBC RC loss mode to navigator
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index e0913bb57..c569ee7b5 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -131,6 +131,7 @@ Navigator::Navigator() : _mission(this, "MIS"), _loiter(this, "LOI"), _rtl(this, "RTL"), + _rcLoss(this, "RCL"), _offboard(this, "OFF"), _dataLinkLoss(this, "DLL"), _engineFailure(this, "EF"), @@ -139,7 +140,8 @@ Navigator::Navigator() : _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD"), - _param_datalinkloss_obc(this, "DLL_OBC") + _param_datalinkloss_obc(this, "DLL_OBC"), + _param_rcloss_obc(this, "RCL_OBC") { /* Create a list of our possible navigation types */ _navigation_mode_array[0] = &_mission; @@ -149,6 +151,7 @@ Navigator::Navigator() : _navigation_mode_array[4] = &_dataLinkLoss; _navigation_mode_array[5] = &_engineFailure; _navigation_mode_array[6] = &_gpsFailure; + _navigation_mode_array[7] = &_rcLoss; updateParams(); } @@ -413,7 +416,11 @@ Navigator::task_main() _navigation_mode = &_loiter; break; case NAVIGATION_STATE_AUTO_RTL: - _navigation_mode = &_rtl; + if (_param_rcloss_obc.get() != 0) { + _navigation_mode = &_rcLoss; + } else { + _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 @@ -421,7 +428,7 @@ Navigator::task_main() if (_param_datalinkloss_obc.get() != 0) { _navigation_mode = &_dataLinkLoss; } else { - _navigation_mode = &_rtl; /* TODO: change this to something else */ + _navigation_mode = &_rtl; } break; case NAVIGATION_STATE_AUTO_LANDENGFAIL: |