Merge pull request #1450 from PX4/fix_navstates

Fix navstates

1 files changed, 84 insertions, 70 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 7917bc9f2..ec173c12b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2201,18 +2201,6 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
-	case NAVIGATION_STATE_ACRO:
-		control_mode.flag_control_manual_enabled = true;
-		control_mode.flag_control_auto_enabled = false;
-		control_mode.flag_control_rates_enabled = true;
-		control_mode.flag_control_attitude_enabled = false;
-		control_mode.flag_control_altitude_enabled = false;
-		control_mode.flag_control_climb_rate_enabled = false;
-		control_mode.flag_control_position_enabled = false;
-		control_mode.flag_control_velocity_enabled = false;
-		control_mode.flag_control_termination_enabled = false;
-		break;
-
 	case NAVIGATION_STATE_ALTCTL:
 		control_mode.flag_control_manual_enabled = true;
 		control_mode.flag_control_auto_enabled = false;
@@ -2225,64 +2213,6 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
-	case NAVIGATION_STATE_OFFBOARD:
-		control_mode.flag_control_manual_enabled = false;
-		control_mode.flag_control_auto_enabled = false;
-		control_mode.flag_control_offboard_enabled = true;
-
-		switch (sp_offboard.mode) {
-		case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
-			control_mode.flag_control_rates_enabled = true;
-			control_mode.flag_control_attitude_enabled = false;
-			control_mode.flag_control_altitude_enabled = false;
-			control_mode.flag_control_climb_rate_enabled = false;
-			control_mode.flag_control_position_enabled = false;
-			control_mode.flag_control_velocity_enabled = false;
-			break;
-
-		case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
-			control_mode.flag_control_rates_enabled = true;
-			control_mode.flag_control_attitude_enabled = true;
-			control_mode.flag_control_altitude_enabled = false;
-			control_mode.flag_control_climb_rate_enabled = false;
-			control_mode.flag_control_position_enabled = false;
-			control_mode.flag_control_velocity_enabled = false;
-			break;
-
-		case OFFBOARD_CONTROL_MODE_DIRECT_FORCE:
-			control_mode.flag_control_rates_enabled = true;
-			control_mode.flag_control_attitude_enabled = false;
-			control_mode.flag_control_force_enabled = true;
-			control_mode.flag_control_altitude_enabled = false;
-			control_mode.flag_control_climb_rate_enabled = false;
-			control_mode.flag_control_position_enabled = false;
-			control_mode.flag_control_velocity_enabled = false;
-			break;
-
-		case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
-		case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
-		case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
-		case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
-			control_mode.flag_control_rates_enabled = true;
-			control_mode.flag_control_attitude_enabled = true;
-			control_mode.flag_control_altitude_enabled = true;
-			control_mode.flag_control_climb_rate_enabled = true;
-			control_mode.flag_control_position_enabled = true;
-			control_mode.flag_control_velocity_enabled = true;
-			//XXX: the flags could depend on sp_offboard.ignore
-			break;
-
-		default:
-			control_mode.flag_control_rates_enabled = false;
-			control_mode.flag_control_attitude_enabled = false;
-			control_mode.flag_control_altitude_enabled = false;
-			control_mode.flag_control_climb_rate_enabled = false;
-			control_mode.flag_control_position_enabled = false;
-			control_mode.flag_control_velocity_enabled = false;
-		}
-
-		break;
-
 	case NAVIGATION_STATE_POSCTL:
 		control_mode.flag_control_manual_enabled = true;
 		control_mode.flag_control_auto_enabled = false;
@@ -2298,6 +2228,7 @@ set_control_mode()
 	case NAVIGATION_STATE_AUTO_MISSION:
 	case NAVIGATION_STATE_AUTO_LOITER:
 	case NAVIGATION_STATE_AUTO_RTL:
+	case NAVIGATION_STATE_AUTO_RCRECOVER:
 	case NAVIGATION_STATE_AUTO_RTGS:
 	case NAVIGATION_STATE_AUTO_LANDENGFAIL:
 		control_mode.flag_control_manual_enabled = false;
@@ -2323,6 +2254,19 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
+	case NAVIGATION_STATE_ACRO:
+		control_mode.flag_control_manual_enabled = true;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = false;
+		control_mode.flag_control_altitude_enabled = false;
+		control_mode.flag_control_climb_rate_enabled = false;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
+
 	case NAVIGATION_STATE_LAND:
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = true;
@@ -2336,6 +2280,19 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
+	case NAVIGATION_STATE_DESCEND:
+		/* TODO: check if this makes sense */
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = true;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_altitude_enabled = false;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
 	case NAVIGATION_STATE_TERMINATION:
 		/* disable all controllers on termination */
 		control_mode.flag_control_manual_enabled = false;
@@ -2349,6 +2306,63 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = true;
 		break;
 
+	case NAVIGATION_STATE_OFFBOARD:
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_offboard_enabled = true;
+
+		switch (sp_offboard.mode) {
+		case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
+			control_mode.flag_control_rates_enabled = true;
+			control_mode.flag_control_attitude_enabled = false;
+			control_mode.flag_control_altitude_enabled = false;
+			control_mode.flag_control_climb_rate_enabled = false;
+			control_mode.flag_control_position_enabled = false;
+			control_mode.flag_control_velocity_enabled = false;
+			break;
+
+		case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
+			control_mode.flag_control_rates_enabled = true;
+			control_mode.flag_control_attitude_enabled = true;
+			control_mode.flag_control_altitude_enabled = false;
+			control_mode.flag_control_climb_rate_enabled = false;
+			control_mode.flag_control_position_enabled = false;
+			control_mode.flag_control_velocity_enabled = false;
+			break;
+
+		case OFFBOARD_CONTROL_MODE_DIRECT_FORCE:
+			control_mode.flag_control_rates_enabled = true;
+			control_mode.flag_control_attitude_enabled = false;
+			control_mode.flag_control_force_enabled = true;
+			control_mode.flag_control_altitude_enabled = false;
+			control_mode.flag_control_climb_rate_enabled = false;
+			control_mode.flag_control_position_enabled = false;
+			control_mode.flag_control_velocity_enabled = false;
+			break;
+
+		case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
+		case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
+		case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
+		case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
+			control_mode.flag_control_rates_enabled = true;
+			control_mode.flag_control_attitude_enabled = true;
+			control_mode.flag_control_altitude_enabled = true;
+			control_mode.flag_control_climb_rate_enabled = true;
+			control_mode.flag_control_position_enabled = true;
+			control_mode.flag_control_velocity_enabled = true;
+			//XXX: the flags could depend on sp_offboard.ignore
+			break;
+
+		default:
+			control_mode.flag_control_rates_enabled = false;
+			control_mode.flag_control_attitude_enabled = false;
+			control_mode.flag_control_altitude_enabled = false;
+			control_mode.flag_control_climb_rate_enabled = false;
+			control_mode.flag_control_position_enabled = false;
+			control_mode.flag_control_velocity_enabled = false;
+		}
+		break;
+
 	default:
 		break;
 	}