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Merge branch 'navigator_rewrite' into navigator_rewrite_estimator

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Julian Oes
2014-06-27 11:02:47 +02:00
parent 7f41ec52f1 1bae18377a
commit 19fad94a34
11 changed files with 204 additions and 458 deletions
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src/modules/commander/commander.cpp
+26 -4
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@@ -1612,10 +1612,10 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break; // changed successfully or already in this state
}
// else fallback to ALTCTL
print_reject_mode(status, "POSCTL");
}
// fallback to ALTCTL
res = main_state_transition(status, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
@@ -1626,7 +1626,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
print_reject_mode(status, "ALTCTL");
}
// else fallback to MANUAL
// fallback to MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;
@@ -1638,28 +1638,50 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_RTL");
// fallback to LOITER if home position not set
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_LOITER");
} else {
res = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_MISSION");
}
// else fallback to ALTCTL (POSCTL likely will not work too)
// fallback to POSCTL
res = main_state_transition(status, MAIN_STATE_POSCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// fallback to ALTCTL
res = main_state_transition(status, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// else fallback to MANUAL
// fallback to MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;