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navigator: audio messages about what is happening, RTL during mission not triggered but after mission

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Julian Oes
2014-06-06 23:08:11 +02:00
parent 1bec9dfe2b
commit 94c4fc56aa
4 changed files with 70 additions and 18 deletions
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src/modules/commander/commander.cpp
+16 -1
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@@ -1296,7 +1296,6 @@ int commander_thread_main(int argc, char *argv[])
status.rc_signal_lost = true;
status_changed = true;
if (!(status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION && !mission_result.mission_finished)) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
@@ -1306,10 +1305,26 @@ int commander_thread_main(int argc, char *argv[])
status.failsafe_state = FAILSAFE_STATE_LAND;
}
failsafe_state_changed = true;
} else {
mavlink_log_info(mavlink_fd, "#audio: no RTL during Mission");
}
}
}
/* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */
if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION &&
mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RTL_RC) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RTL_RC;
mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished");
} else {
/* this probably doesn't make sense since we are in mission and have global position */
status.failsafe_state = FAILSAFE_STATE_LAND;
}
failsafe_state_changed = true;
}
/* handle commands last, as the system needs to be updated to handle them */
orb_check(cmd_sub, &updated);