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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-13 08:10:42 -0800 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-13 08:10:42 -0800 |
| commit | 3e708f881eecafbac19730f0801f8654399028ff (patch) | |
| tree | 513a606eeb910a704963d09a6d3ef842fceb0054 /src/modules | |
| parent | 39dcda3996b7c988c66bb4678f35bd45e0cc5d49 (diff) | |
| parent | ea9fcaa27ffc8e1edbb8c7a7dec768208944da3c (diff) | |
| download | px4-firmware-3e708f881eecafbac19730f0801f8654399028ff.tar.gz px4-firmware-3e708f881eecafbac19730f0801f8654399028ff.tar.bz2 px4-firmware-3e708f881eecafbac19730f0801f8654399028ff.zip | |
Merge pull request #538 from thomasgubler/commander_localpos
update the commander to only use local pos for landing detection when on...
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/commander.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ace13bb78..dfd4d2f73 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -871,7 +871,7 @@ int commander_thread_main(int argc, char *argv[]) check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed); check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); - if (status.condition_local_altitude_valid) { + if (status.is_rotary_wing && status.condition_local_altitude_valid) { if (status.condition_landed != local_position.landed) { status.condition_landed = local_position.landed; status_changed = true; @@ -1539,7 +1539,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c // TODO AUTO_LAND handling if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { /* don't switch to other states until takeoff not completed */ - if (local_pos->z > -takeoff_alt || status->condition_landed) { + // XXX: only respect the condition_landed when the local position is actually valid + if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) { return TRANSITION_NOT_CHANGED; } } @@ -1549,7 +1550,7 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c status->navigation_state != NAVIGATION_STATE_AUTO_MISSION && status->navigation_state != NAVIGATION_STATE_AUTO_RTL) { /* possibly on ground, switch to TAKEOFF if needed */ - if (local_pos->z > -takeoff_alt || status->condition_landed) { + if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) { res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); return res; } |