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Navigator: Provide better feedback if no mission present, enforce minimum altitude in loiter and in auto modes

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This commit is contained in:
Lorenz Meier
2015-06-12 15:57:27 +02:00
parent 6c0539c243
commit 05993bee6f
5 changed files with 37 additions and 13 deletions
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src/modules/navigator/mission.cpp
+24 -8
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@@ -377,6 +377,7 @@ Mission::set_mission_items()
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running");
user_feedback_done = true;
}
_mission_type = MISSION_TYPE_ONBOARD;
@@ -385,6 +386,7 @@ Mission::set_mission_items()
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "offboard mission now running");
user_feedback_done = true;
}
_mission_type = MISSION_TYPE_OFFBOARD;
} else {
@@ -392,21 +394,17 @@ Mission::set_mission_items()
if (_mission_type != MISSION_TYPE_NONE) {
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
user_feedback_done = true;
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
} else if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
* https://en.wikipedia.org/wiki/Loiter_(aeronautics)
*/
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering");
}
_mission_type = MISSION_TYPE_NONE;
/* set loiter mission item */
set_loiter_item(&_mission_item);
/* set loiter mission item and ensure that there is a minimum clearance from home */
set_loiter_item(&_mission_item, _param_takeoff_alt.get());
/* update position setpoint triplet */
pos_sp_triplet->previous.valid = false;
@@ -418,6 +416,24 @@ Mission::set_mission_items()
set_mission_finished();
if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
* https://en.wikipedia.org/wiki/Loiter_(aeronautics)
*/
if (_navigator->get_vstatus()->condition_landed) {
/* landed, refusing to take off without a mission */
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, refusing takeoff");
} else {
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering");
}
user_feedback_done = true;
}
_navigator->set_position_setpoint_triplet_updated();
return;
}