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navigator: fixed infinite RTL->LOITER->RTL... loop on failsafe

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This commit is contained in:
Anton Babushkin
2014-02-02 22:04:11 +01:00
parent 150bac4b51
commit 3d21a73ddf
1 changed files with 4 additions and 2 deletions
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src/modules/navigator/navigator_main.cpp
+4 -2
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@@ -688,7 +688,8 @@ Navigator::task_main()
/* RETURN switch, overrides MISSION switch */
if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
/* switch to RTL if not already landed after RTL and home position set */
if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) &&
if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
@@ -746,7 +747,8 @@ Navigator::task_main()
break;
case NAV_STATE_RTL:
if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) &&
if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}