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Support more failsafe actions on data link and RC loss

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This commit is contained in:
Lorenz Meier
2016-04-23 16:31:03 +02:00
parent b402cd9336
commit 82d51c5d17
3 changed files with 37 additions and 16 deletions
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src/modules/navigator/navigator_main.cpp
+14 -6
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@@ -153,8 +153,8 @@ Navigator::Navigator() :
_follow_target(this, "TAR"),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD"),
_param_datalinkloss_obc(this, "DLL_OBC"),
_param_rcloss_obc(this, "RCL_OBC"),
_param_datalinkloss_act(this, "DLL_ACT"),
_param_rcloss_act(this, "RCL_ACT"),
_param_cruising_speed_hover(this, "MPC_XY_CRUISE", false),
_param_cruising_speed_plane(this, "FW_AIRSPD_TRIM", false),
_mission_cruising_speed(-1.0f)
@@ -481,9 +481,13 @@ Navigator::task_main()
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_obc.get() != 0) {
if (_param_rcloss_act.get() == 0) {
_navigation_mode = &_loiter;
} else if (_param_rcloss_act.get() == 2) {
_navigation_mode = &_land;
} else if (_param_rcloss_act.get() == 3) {
_navigation_mode = &_rcLoss;
} else {
} else { /* if == 1 or unknown, RTL */
_navigation_mode = &_rtl;
}
break;
@@ -507,9 +511,13 @@ 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_obc.get() != 0) {
if (_param_datalinkloss_act.get() == 0) {
_navigation_mode = &_loiter;
} else if (_param_datalinkloss_act.get() == 2) {
_navigation_mode = &_land;
} else if (_param_datalinkloss_act.get() == 3) {
_navigation_mode = &_dataLinkLoss;
} else {
} else { /* if == 1 or unknown, RTL */
_navigation_mode = &_rtl;
}
break;