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nav state: renamed NAVIGATION_STATE_AUTO_RTL_DR to NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING

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This commit is contained in:
oravla5
2025-07-02 11:53:19 +02:00
parent 9ca3a03352
commit 37e959ab01
8 changed files with 17 additions and 16 deletions
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msg/versioned/VehicleStatus.msg
+1 -1
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@@ -40,7 +40,7 @@ uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
uint8 NAVIGATION_STATE_AUTO_RTL_DR = 7 # Auto dead-reckoning return to launch mode
uint8 NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING = 7 # Auto dead-reckoning return to launch mode
uint8 NAVIGATION_STATE_FREE4 = 8
uint8 NAVIGATION_STATE_FREE3 = 9
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
src/lib/modes/ui.hpp
+1 -1
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@@ -52,7 +52,7 @@ static inline uint32_t getValidNavStates()
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) |
(1u << vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING) |
(1u << vehicle_status_s::NAVIGATION_STATE_ACRO) |
(1u << vehicle_status_s::NAVIGATION_STATE_TERMINATION) |
(1u << vehicle_status_s::NAVIGATION_STATE_OFFBOARD) |
src/modules/commander/ModeUtil/control_mode.cpp
+1 -1
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@@ -106,7 +106,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING:
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
src/modules/commander/ModeUtil/mode_requirements.cpp
+5 -5
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@@ -133,11 +133,11 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_home_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_prevent_arming);
// NAVIGATION_STATE_AUTO_RTL_DR
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR, flags.mode_req_prevent_arming);
// NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING, flags.mode_req_prevent_arming);
// NAVIGATION_STATE_ACRO
setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_angular_velocity);
src/modules/commander/failsafe/framework.cpp
+4 -4
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@@ -572,10 +572,10 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
returned_state.cause = Cause::Generic;
// fallthrough
case Action::DeadReckonRTL:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR)
case Action::DeadReckoningRTL:
if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING)
&& _param_com_pos_fs_act.get() == 1) {
selected_action = Action::DeadReckonRTL;
selected_action = Action::DeadReckoningRTL;
break;
}
@@ -681,7 +681,7 @@ uint8_t FailsafeBase::modeFromAction(const Action &action, uint8_t user_intended
case Action::RTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
case Action::DeadReckonRTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR;
case Action::DeadReckoningRTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING;
case Action::Land: return vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
src/modules/commander/failsafe/framework.h
+2 -2
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@@ -61,7 +61,7 @@ public:
Hold,
RTL,
DeadReckonRTL,
DeadReckoningRTL,
Land,
Descend,
Disarm,
@@ -106,7 +106,7 @@ public:
case Action::RTL: return "RTL";
case Action::DeadReckonRTL: return "Dead Reckoning RTL";
case Action::DeadReckoningRTL: return "Dead Reckoning RTL";
case Action::Land: return "Land";
src/modules/commander/px4_custom_mode.h
+1 -1
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@@ -228,7 +228,7 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL8;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL_DR;
break;
src/modules/flight_mode_manager/FlightModeManager.cpp
+2 -1
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@@ -154,7 +154,8 @@ void FlightModeManager::start_flight_task()
bool task_failure = false;
const bool nav_state_descend = (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND);
const bool nav_state_rtl_dr = (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR);
const bool nav_state_rtl_dr = (_vehicle_status_sub.get().nav_state ==
vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING);
// Follow me
if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) {