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Navigator: Support finer granularity of RTL and failsafe actions

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Lorenz Meier
2016-04-25 08:44:51 +02:00
parent 55d18949bc
commit 5c70b44d0a
2 changed files with 22 additions and 21 deletions
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src/modules/navigator/navigator_main.cpp
+8 -8
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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;