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Add Land as Geofence Action

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This commit is contained in:
Thomas Stauber
2020-07-09 16:32:10 +02:00
committed by GitHub
parent f3d923f226
commit 6d1ce57362
4 changed files with 23 additions and 2 deletions
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src/modules/commander/Commander.cpp
+19 -1
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@@ -1765,6 +1765,15 @@ Commander::run()
break;
}
case (geofence_result_s::GF_ACTION_LAND) : {
if (TRANSITION_CHANGED == main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
&_internal_state)) {
_geofence_land_on = true;
}
break;
}
case (geofence_result_s::GF_ACTION_TERMINATE) : {
PX4_WARN("Flight termination because of geofence");
mavlink_log_critical(&mavlink_log_pub, "Geofence violation! Flight terminated");
@@ -1794,12 +1803,21 @@ Commander::run()
_geofence_rtl_on = false;
}
_geofence_warning_action_on = _geofence_warning_action_on || (_geofence_loiter_on || _geofence_rtl_on);
// reset if no longer in LAND or if manually switched to LAND
const bool in_land_mode = _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND;
if (!in_land_mode) {
_geofence_land_on = false;
}
_geofence_warning_action_on = _geofence_warning_action_on || (_geofence_loiter_on || _geofence_rtl_on
|| _geofence_land_on);
} else {
// No geofence checks, reset flags
_geofence_loiter_on = false;
_geofence_rtl_on = false;
_geofence_land_on = false;
_geofence_warning_action_on = false;
_geofence_violated_prev = false;
}