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-rw-r--r--src/modules/commander/commander.cpp6
-rw-r--r--src/modules/commander/px4_custom_mode.h1
-rw-r--r--src/modules/commander/state_machine_helper.cpp12
-rw-r--r--src/modules/mavlink/mavlink_messages.cpp8
-rw-r--r--src/modules/navigator/navigator_main.cpp3
-rw-r--r--src/modules/uORB/topics/vehicle_status.h5
6 files changed, 20 insertions, 15 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 5954dcbb1..b957ad9b5 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -649,8 +649,7 @@ int commander_thread_main(int argc, char *argv[])
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
- nav_states_str[NAVIGATION_STATE_AUTO_FS_RC_LOSS] = "AUTO_FS_RC_LOSS";
- nav_states_str[NAVIGATION_STATE_AUTO_FS_DL_LOSS] = "AUTO_FS_DL_LOSS";
+ nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS";
nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
@@ -1734,8 +1733,7 @@ set_control_mode()
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
- case NAVIGATION_STATE_AUTO_FS_RC_LOSS:
- case NAVIGATION_STATE_AUTO_FS_DL_LOSS:
+ case NAVIGATION_STATE_AUTO_RTGS:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index e0f8dc95d..7f5f93801 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -25,6 +25,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
+ PX4_CUSTOM_SUB_MODE_AUTO_RTGS
};
union px4_custom_mode {
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index f0fe13921..74885abf6 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -384,7 +384,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
- status->nav_state = NAVIGATION_STATE_AUTO_FS_RC_LOSS;
+ status->nav_state = NAVIGATION_STATE_AUTO_RTL;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -427,7 +427,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
- status->nav_state = NAVIGATION_STATE_AUTO_FS_RC_LOSS;
+ status->nav_state = NAVIGATION_STATE_AUTO_RTL;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -441,7 +441,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
- status->nav_state = NAVIGATION_STATE_AUTO_FS_DL_LOSS;
+ status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -467,7 +467,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
- status->nav_state = NAVIGATION_STATE_AUTO_FS_RC_LOSS;
+ status->nav_state = NAVIGATION_STATE_AUTO_RTL;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -481,7 +481,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
- status->nav_state = NAVIGATION_STATE_AUTO_FS_DL_LOSS;
+ status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -495,7 +495,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
- status->nav_state = NAVIGATION_STATE_AUTO_FS_DL_LOSS;
+ status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index d7f56b63d..1fd8b1a27 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -176,6 +176,14 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
+ case NAVIGATION_STATE_AUTO_RTGS:
+ *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+ | MAV_MODE_FLAG_STABILIZE_ENABLED
+ | MAV_MODE_FLAG_GUIDED_ENABLED;
+ custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+ custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
+ break;
+
case NAVIGATION_STATE_TERMINATION:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 50bcfd58d..661d3d744 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -351,10 +351,9 @@ Navigator::task_main()
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RTL:
- case NAVIGATION_STATE_AUTO_FS_RC_LOSS:
_navigation_mode = &_rtl;
break;
- case NAVIGATION_STATE_AUTO_FS_DL_LOSS:
+ case NAVIGATION_STATE_AUTO_RTGS:
_navigation_mode = &_rtl; /* TODO: change this to something else */
break;
case NAVIGATION_STATE_LAND:
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 16652fddf..5dc46dacb 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -100,9 +100,8 @@ typedef enum {
NAVIGATION_STATE_POSCTL, /**< Position control mode */
NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */
NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */
- NAVIGATION_STATE_AUTO_RTL, /**< Auto RTL mode */
- NAVIGATION_STATE_AUTO_FS_RC_LOSS, /**< Auto failsafe mode on RC loss */
- NAVIGATION_STATE_AUTO_FS_DL_LOSS, /**< Auto failsafe mode on DL loss */
+ NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */
+ NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */
NAVIGATION_STATE_ACRO, /**< Acro mode */
NAVIGATION_STATE_LAND, /**< Land mode */
NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-01 18:34:53 +0000