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State machine / switching improvements

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Lorenz Meier
2012-12-31 00:41:11 +01:00
parent 1b82dbb58d
commit 7972a56076
4 changed files with 36 additions and 83 deletions
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apps/commander/commander.c
+3 -7
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@@ -1778,20 +1778,16 @@ int commander_thread_main(int argc, char *argv[])
} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
/* check auto mode switch for correct mode */
if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
/* enable stabilized mode */
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
/* enable guided mode */
update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
} else {
update_state_machine_mode_hold(stat_pub, &current_status, mavlink_fd);
}
} else {
/* center stick position, set SAS for all vehicle types */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
}
/* handle the case where RC signal was regained */