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added code handling aborting landings

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Roman
2015-11-17 22:28:09 +01:00
parent 5f40094685
commit 3d3398e330
2 changed files with 78 additions and 6 deletions
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src/modules/navigator/navigator_main.cpp
+9 -2
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@@ -440,8 +440,15 @@ Navigator::task_main()
_can_loiter_at_sp = false;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
if (_nav_caps.abort_landing) {
// pos controller aborted landing, requests loiter
// above landing waypoint
_navigation_mode = &_loiter;
_pos_sp_triplet_published_invalid_once = false;
} else {
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
}
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;