fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-28 02:34:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

FW don't allow ACRO or RATTITUDE

Browse Source
This commit is contained in:
Daniel Agar 2016-05-27 16:10:03 -04:00 committed by Lorenz Meier
parent e70223c2be
commit 6aa935fed6
2 changed files with 13 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/commander/commander_tests/state_machine_helper_test.cpp
View File

@ -337,8 +337,8 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
// TRANSITION_CHANGED tests
{ "transition: MANUAL to ACRO",
MTT_ALL_NOT_VALID,
{ "transition: MANUAL to ACRO - rotary",
MTT_ROTARY_WING,
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED },
{ "transition: ACRO to MANUAL",
@ -399,6 +399,10 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
// TRANSITION_DENIED tests
{ "transition: MANUAL to ACRO - not rotary",
MTT_ALL_NOT_VALID,
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_DENIED },
{ "no transition: MANUAL to AUTO_MISSION - global position not valid",
MTT_ALL_NOT_VALID,
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED },

9
src/modules/commander/state_machine_helper.cpp
View File

@ -348,12 +348,17 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
/* transition may be denied even if the same state is requested because conditions may have changed */
switch (new_main_state) {
case commander_state_s::MAIN_STATE_MANUAL:
case commander_state_s::MAIN_STATE_ACRO:
case commander_state_s::MAIN_STATE_RATTITUDE:
case commander_state_s::MAIN_STATE_STAB:
ret = TRANSITION_CHANGED;
break;
case commander_state_s::MAIN_STATE_ACRO:
case commander_state_s::MAIN_STATE_RATTITUDE:
if (status->is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */
/* TODO: add this for fixedwing as well */