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| author | julianoes <julian@oes.ch> | 2014-03-02 21:22:16 +0100 |
|---|---|---|
| committer | julianoes <julian@oes.ch> | 2014-03-02 21:22:16 +0100 |
| commit | 85247e3fddd7bc7cd3cd9eace3f41dc7368edf69 (patch) | |
| tree | c66f5c86fc51452d0535dbdada6c848f4267a48d /src | |
| parent | eee8ee9e0f20fd9171efce26d4ff273cb7598541 (diff) | |
| parent | eac00a71ea8f0b10d446be752f6fef737f850956 (diff) | |
| download | px4-firmware-85247e3fddd7bc7cd3cd9eace3f41dc7368edf69.tar.gz px4-firmware-85247e3fddd7bc7cd3cd9eace3f41dc7368edf69.tar.bz2 px4-firmware-85247e3fddd7bc7cd3cd9eace3f41dc7368edf69.zip | |
Merge pull request #680 from PX4/ready_rtl_fix
navigator: forbid READY -> RTL transition
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 13 |
1 files changed, 6 insertions, 7 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index c572972b5..8d0710e91 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -695,7 +695,7 @@ Navigator::task_main() if (_vstatus.return_switch == RETURN_SWITCH_RETURN) { /* switch to RTL if not already landed after RTL and home position set */ if (!(_rtl_state == RTL_STATE_DESCEND && - (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && + (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); } @@ -741,7 +741,7 @@ Navigator::task_main() case NAV_STATE_RTL: if (!(_rtl_state == RTL_STATE_DESCEND && - (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && + (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); } @@ -749,9 +749,7 @@ Navigator::task_main() break; case NAV_STATE_LAND: - if (myState != NAV_STATE_READY) { - dispatch(EVENT_LAND_REQUESTED); - } + dispatch(EVENT_LAND_REQUESTED); break; @@ -955,7 +953,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { /* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_READY}, @@ -1388,7 +1386,8 @@ Navigator::set_rtl_item() void Navigator::request_loiter_or_ready() { - if (_vstatus.condition_landed) { + /* XXX workaround: no landing detector for fixedwing yet */ + if (_vstatus.condition_landed && _vstatus.is_rotary_wing) { dispatch(EVENT_READY_REQUESTED); } else { |