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navigator: switch to READY instead of LOITER if landed

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This commit is contained in:
Anton Babushkin 2014-02-16 14:43:00 +01:00
parent 5bb004a711
commit a6af669399
1 changed files with 35 additions and 31 deletions
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66
src/modules/navigator/navigator_main.cpp
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@ -305,6 +305,12 @@ private:
void start_land();
void start_land_home();
/**
* Fork for state transitions
*/
void request_loiter_or_ready();
void request_mission_if_available();
/**
* Guards offboard mission
*/
@ -699,24 +705,17 @@ Navigator::task_main()
} else {
/* MISSION switch */
if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
dispatch(EVENT_LOITER_REQUESTED);
request_loiter_or_ready();
stick_mode = true;
} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
/* switch to mission only if available */
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
request_mission_if_available();
stick_mode = true;
}
if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) {
/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
dispatch(EVENT_LOITER_REQUESTED);
request_mission_if_available();
stick_mode = true;
}
}
@ -733,17 +732,11 @@ Navigator::task_main()
break;
case NAV_STATE_LOITER:
dispatch(EVENT_LOITER_REQUESTED);
request_loiter_or_ready();
break;
case NAV_STATE_MISSION:
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
request_mission_if_available();
break;
case NAV_STATE_RTL:
@ -770,12 +763,7 @@ Navigator::task_main()
} else {
/* on first switch to AUTO try mission by default, if none is available fallback to loiter */
if (myState == NAV_STATE_NONE) {
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
request_mission_if_available();
}
}
}
@ -1397,6 +1385,28 @@ Navigator::set_rtl_item()
_pos_sp_triplet_updated = true;
}
void
Navigator::request_loiter_or_ready()
{
if (_vstatus.condition_landed) {
dispatch(EVENT_READY_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
}
void
Navigator::request_mission_if_available()
{
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
request_loiter_or_ready();
}
}
void
Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item)
{
@ -1555,13 +1565,7 @@ Navigator::on_mission_item_reached()
/* loiter at last waypoint */
_reset_loiter_pos = false;
mavlink_log_info(_mavlink_fd, "[navigator] mission completed");
if (_vstatus.condition_landed) {
dispatch(EVENT_READY_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
request_loiter_or_ready();
}
} else if (myState == NAV_STATE_RTL) {