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Navigator: Support finer granularity of RTL and failsafe actions

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This commit is contained in:
Lorenz Meier 2016-04-23 16:52:50 +02:00
parent 55d18949bc
commit 5c70b44d0a
2 changed files with 22 additions and 21 deletions
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16
src/modules/navigator/navigator_main.cpp
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@ -518,13 +518,13 @@ Navigator::task_main()
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_act.get() == 0) {
if (_param_rcloss_act.get() == 1) {
_navigation_mode = &_loiter;
} else if (_param_rcloss_act.get() == 2) {
_navigation_mode = &_land;
} else if (_param_rcloss_act.get() == 3) {
_navigation_mode = &_land;
} else if (_param_rcloss_act.get() == 4) {
_navigation_mode = &_rcLoss;
} else { /* if == 1 or unknown, RTL */
} else { /* if == 2 or unknown, RTL */
_navigation_mode = &_rtl;
}
break;
@ -548,13 +548,13 @@ Navigator::task_main()
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
_pos_sp_triplet_published_invalid_once = false;
if (_param_datalinkloss_act.get() == 0) {
if (_param_datalinkloss_act.get() == 1) {
_navigation_mode = &_loiter;
} else if (_param_datalinkloss_act.get() == 2) {
_navigation_mode = &_land;
} else if (_param_datalinkloss_act.get() == 3) {
_navigation_mode = &_land;
} else if (_param_datalinkloss_act.get() == 4) {
_navigation_mode = &_dataLinkLoss;
} else { /* if == 1 or unknown, RTL */
} else { /* if == 2 or unknown, RTL */
_navigation_mode = &_rtl;
}
break;

27
src/modules/navigator/navigator_params.c
View File

@ -68,34 +68,35 @@ PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
* Set data link loss failsafe mode
*
* The data link loss failsafe will only be entered after a timeout,
* set by a DIFFERENT parameter. If the timeout value is smaller than
* zero it will never be entered.
* set by COM_RC_LOSS_T in seconds.
*
* @value 0 Loiter
* @value 1 Return to Land
* @value 2 Land at current position
* @value 3 Outback Challenge (OBC) rules
* @value 0 Disabled
* @value 1 Loiter
* @value 2 Return to Land
* @value 3 Land at current position
* @value 4 Outback Challenge (OBC) rules
*
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_DLL_ACT, 1);
PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
/**
* Set RC loss failsafe mode
*
* The RC loss failsafe will only be entered after a timeout,
* set by a DIFFERENT parameter. If the timeout value is smaller than
* set by COM_RC_LOSS_T in seconds. If the timeout value is smaller than
* zero it will never be entered. If RC input checks have been disabled
* by setting the COM_RC_IN_MODE param it will also not be triggered.
*
* @value 0 Loiter
* @value 1 Return to Land
* @value 2 Land at current position
* @value 3 Outback Challenge (OBC) rules
* @value 0 Disabled
* @value 1 Loiter
* @value 2 Return to Land
* @value 3 Land at current position
* @value 4 Outback Challenge (OBC) rules
*
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_RCL_ACT, 1);
PARAM_DEFINE_INT32(NAV_RCL_ACT, 0);
/**
* Airfield home Lat