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navigator: added NAV_CMD_IDLE, added RTL_STATE_LOITER and RTL_STATE_LANDED instead of FINISHED

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This commit is contained in:
Anton Babushkin
2014-06-27 00:27:08 +02:00
parent 8e8798a522
commit 9ae44291b1
4 changed files with 82 additions and 31 deletions
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src/modules/navigator/mission_block.cpp
+17 -8
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@@ -69,10 +69,10 @@ MissionBlock::~MissionBlock()
bool
MissionBlock::is_mission_item_reached()
{
/* don't check landed WPs */
if (_mission_item.nav_cmd == NAV_CMD_LAND) {
return false;
return _navigator_priv->get_vstatus()->condition_landed;
}
/* TODO: count turns */
#if 0
if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
@@ -178,19 +178,28 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->loiter_direction = item->loiter_direction;
sp->pitch_min = item->pitch_min;
if (item->nav_cmd == NAV_CMD_TAKEOFF) {
switch (item->nav_cmd) {
case NAV_CMD_IDLE:
sp->type = SETPOINT_TYPE_IDLE;
break;
case NAV_CMD_TAKEOFF:
sp->type = SETPOINT_TYPE_TAKEOFF;
break;
} else if (item->nav_cmd == NAV_CMD_LAND) {
case NAV_CMD_LAND:
sp->type = SETPOINT_TYPE_LAND;
break;
} else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
case NAV_CMD_LOITER_TIME_LIMIT:
case NAV_CMD_LOITER_TURN_COUNT:
case NAV_CMD_LOITER_UNLIMITED:
sp->type = SETPOINT_TYPE_LOITER;
break;
} else {
default:
sp->type = SETPOINT_TYPE_POSITION;
break;
}
}