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Navigator: make sure VTOL transitions in Descend mode are alays triggered (#23578)

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It previously didn't catch switches to Descend from a manual mode,
as both modes have navigation_mode_new=nullptr.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-08-22 14:02:32 +02:00
committed by GitHub
parent 20b6f343a3
commit 6ef82ada6e
1 changed files with 12 additions and 14 deletions
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src/modules/navigator/navigator_main.cpp
+12 -14
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@@ -854,21 +854,19 @@ void Navigator::run()
if (did_not_switch_takeoff_to_loiter && did_not_switch_to_loiter_with_valid_loiter_setpoint) {
reset_triplets();
}
}
// transition to hover in Descend mode
if (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND &&
_vstatus.is_vtol && _vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING &&
force_vtol()) {
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
publish_vehicle_cmd(&vcmd);
mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
"Transition to hover mode and descend");
}
// VTOL: transition to hover in Descend mode if force_vtol() is true
if (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND &&
_vstatus.is_vtol && _vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING &&
force_vtol()) {
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
publish_vehicle_cmd(&vcmd);
mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
"Transition to hover mode and descend");
}
_navigation_mode = navigation_mode_new;