fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-17 16:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Old style switches: changed the loiter switch to have priorit over main switch (#6764)

Browse Source
This commit is contained in:
Andreas Daniel Antener
2017-04-16 16:10:31 +02:00
committed by Daniel Agar
parent 0d2e847c57
commit 18293875b7
1 changed files with 21 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+21 -20
View File
@@ -3415,6 +3415,18 @@ set_main_state_rc(struct vehicle_status_s *status_local)
/* if we get here mode was rejected, continue to evaluate the main system mode */
}
/* Loiter switch overrides main switch */
if (sp_man.loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "AUTO HOLD");
} else {
return res;
}
}
/* we know something has changed - check if we are in mode slot operation */
if (sp_man.mode_slot != manual_control_setpoint_s::MODE_SLOT_NONE) {
@@ -3653,30 +3665,19 @@ set_main_state_rc(struct vehicle_status_s *status_local)
break;
case manual_control_setpoint_s::SWITCH_POS_ON: // AUTO
if (sp_man.loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, main_state_prev, &status_flags, &internal_state);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO PAUSE");
print_reject_mode(status_local, "AUTO MISSION");
} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, main_state_prev, &status_flags, &internal_state);
// fallback to LOITER if home position not set
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO MISSION");
// fallback to LOITER if home position not set
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// fallback to POSCTL