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Merge pull request #680 from PX4/ready_rtl_fix

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navigator: forbid READY -> RTL transition
This commit is contained in:
julianoes
2014-03-02 21:22:16 +01:00
parent eee8ee9e0f eac00a71ea
commit 85247e3fdd
1 changed files with 6 additions and 7 deletions
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src/modules/navigator/navigator_main.cpp
+6 -7
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@@ -695,7 +695,7 @@ Navigator::task_main()
if (_vstatus.return_switch == RETURN_SWITCH_RETURN) { if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
/* switch to RTL if not already landed after RTL and home position set */ /* switch to RTL if not already landed after RTL and home position set */
if (!(_rtl_state == RTL_STATE_DESCEND && if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) { _vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED); dispatch(EVENT_RTL_REQUESTED);
} }
@@ -741,7 +741,7 @@ Navigator::task_main()
case NAV_STATE_RTL: case NAV_STATE_RTL:
if (!(_rtl_state == RTL_STATE_DESCEND && if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) { _vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED); dispatch(EVENT_RTL_REQUESTED);
} }
@@ -749,9 +749,7 @@ Navigator::task_main()
break; break;
case NAV_STATE_LAND: case NAV_STATE_LAND:
if (myState != NAV_STATE_READY) { dispatch(EVENT_LAND_REQUESTED);
dispatch(EVENT_LAND_REQUESTED);
}
break; break;
@@ -955,7 +953,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
/* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_READY},
@@ -1388,7 +1386,8 @@ Navigator::set_rtl_item()
void void
Navigator::request_loiter_or_ready() Navigator::request_loiter_or_ready()
{ {
if (_vstatus.condition_landed) { /* XXX workaround: no landing detector for fixedwing yet */
if (_vstatus.condition_landed && _vstatus.is_rotary_wing) {
dispatch(EVENT_READY_REQUESTED); dispatch(EVENT_READY_REQUESTED);
} else { } else {