From 69271a7251a0bcfd980c3534194b73fc45fa5f23 Mon Sep 17 00:00:00 2001 From: Steven Blass Date: Tue, 18 Nov 2014 08:40:52 -0500 Subject: made invalid setpoints publish once every time it enters an invalid state --- src/modules/navigator/navigator_main.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) (limited to 'src/modules/navigator') diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 035b0d18c..df620e5e7 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -428,12 +428,15 @@ Navigator::task_main() _can_loiter_at_sp = false; break; case NAVIGATION_STATE_AUTO_MISSION: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_mission; break; case NAVIGATION_STATE_AUTO_LOITER: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_loiter; break; case NAVIGATION_STATE_AUTO_RCRECOVER: + _pos_sp_triplet_published_invalid_once = false; if (_param_rcloss_obc.get() != 0) { _navigation_mode = &_rcLoss; } else { @@ -441,11 +444,13 @@ Navigator::task_main() } break; case NAVIGATION_STATE_AUTO_RTL: - _navigation_mode = &_rtl; + _pos_sp_triplet_published_invalid_once = false; + _navigation_mode = &_rtl; break; case NAVIGATION_STATE_AUTO_RTGS: /* Use complex data link loss mode only when enabled via param * otherwise use rtl */ + _pos_sp_triplet_published_invalid_once = false; if (_param_datalinkloss_obc.get() != 0) { _navigation_mode = &_dataLinkLoss; } else { @@ -453,9 +458,11 @@ Navigator::task_main() } break; case NAVIGATION_STATE_AUTO_LANDENGFAIL: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_engineFailure; break; case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_gpsFailure; break; default: -- cgit v1.2.3