From 303664d94af4949bcc7f1c3393f82eb242a60c5e Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 24 Jul 2014 21:49:22 +0200 Subject: [PATCH] add landengfail nav state --- src/modules/navigator/navigator_main.cpp | 3 +++ src/modules/uORB/topics/vehicle_status.h | 1 + 2 files changed, 4 insertions(+) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 21ab691ff6..043d883b2d 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -393,6 +393,9 @@ Navigator::task_main() _navigation_mode = &_rtl; /* TODO: change this to something else */ } break; + case NAVIGATION_STATE_AUTO_LANDENGFAIL: + _navigation_mode = &_engineFailure; + break; case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: case NAVIGATION_STATE_OFFBOARD: diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index eda1dfaec9..c2926dce8f 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -103,6 +103,7 @@ typedef enum { NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */ NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */ + NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */ NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_LAND, /**< Land mode */ NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */