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commander: switch to AUTO_READY or AUTO_MISSION immediately, don't try to stay on ground

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This commit is contained in:
Anton Babushkin
2013-08-30 10:11:24 +02:00
parent 5146dd8ff8
commit 3a00def189
3 changed files with 52 additions and 57 deletions
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src/modules/commander/state_machine_helper.cpp
+9 -14
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@@ -348,20 +348,15 @@ navigation_state_transition(struct vehicle_status_s *status, navigation_state_t
break;
case NAVIGATION_STATE_AUTO_TAKEOFF:
/* only transitions from AUTO_READY */
if (status->navigation_state == NAVIGATION_STATE_AUTO_READY) {
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = false;
control_mode->flag_control_auto_enabled = true;
}
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = false;
control_mode->flag_control_auto_enabled = true;
break;
case NAVIGATION_STATE_AUTO_LOITER: