diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index ba46bd568..1ce6770c9 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -40,6 +40,7 @@ * @author Jean Cyr <jean.m.cyr@gmail.com> * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -125,10 +126,12 @@ Navigator::Navigator() : _loiter(this, "LOI"), _rtl(this, "RTL"), _offboard(this, "OFF"), + _dataLinkLoss(this, "DLL"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), - _param_acceptance_radius(this, "ACC_RAD") + _param_acceptance_radius(this, "ACC_RAD"), + _param_datalinkloss_obc(this, "DLL_OBC") { /* Create a list of our possible navigation types */ _navigation_mode_array[0] = &_mission; @@ -376,7 +379,13 @@ Navigator::task_main() _navigation_mode = &_rtl; break; case NAVIGATION_STATE_AUTO_RTGS: - _navigation_mode = &_rtl; /* TODO: change this to something else */ + /* Use complex data link loss mode only when enabled via param + * otherwise use rtl */ + if (_param_datalinkloss_obc.get() != 0) { + _navigation_mode = &_dataLinkLoss; + } else { + _navigation_mode = &_rtl; /* TODO: change this to something else */ + } break; case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: |