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navigator : add support for precision landing

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This commit is contained in:
Nicolas de Palezieux
2018-01-15 10:27:23 +01:00
committed by Lorenz Meier
parent 652d295b2d
commit aa4c6c038d
9 changed files with 925 additions and 10 deletions
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src/modules/navigator/navigator_main.cpp
+10 -1
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@@ -91,6 +91,7 @@ Navigator::Navigator() :
_loiter(this, "LOI"),
_takeoff(this, "TKF"),
_land(this, "LND"),
_precland(this, "PLD"),
_rtl(this, "RTL"),
_rcLoss(this, "RCL"),
_dataLinkLoss(this, "DLL"),
@@ -122,7 +123,9 @@ Navigator::Navigator() :
_navigation_mode_array[6] = &_rcLoss;
_navigation_mode_array[7] = &_takeoff;
_navigation_mode_array[8] = &_land;
_navigation_mode_array[9] = &_follow_target;
_navigation_mode_array[9] = &_precland;
_navigation_mode_array[10] = &_follow_target;
}
Navigator::~Navigator()
@@ -648,6 +651,12 @@ Navigator::task_main()
navigation_mode_new = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_precland;
_precland.set_mode(PrecLandMode::Required);
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_land;