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datalink loss: add param to allow skipping of comms hold wp

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This commit is contained in:
Thomas Gubler
2014-08-24 12:40:19 +02:00
parent c037cfe6f2
commit ae7c993936
3 changed files with 31 additions and 8 deletions
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src/modules/navigator/datalinkloss.cpp
+17 -7
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@@ -66,6 +66,7 @@ DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) :
_param_airfieldhomealt(this, "NAV_AH_ALT", false),
_param_airfieldhomewaittime(this, "AH_T"),
_param_numberdatalinklosses(this, "N"),
_param_skipcommshold(this, "CHSK"),
_dll_state(DLL_STATE_NONE)
{
/* load initial params */
@@ -179,14 +180,23 @@ DataLinkLoss::advance_dll()
switch (_dll_state) {
case DLL_STATE_NONE:
/* Check the number of data link losses. If above home fly home directly */
if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) {
warnx("%d data link losses, limit is %d, fly to airfield home", _navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
if (!_param_skipcommshold.get()) {
/* if number of data link losses limit is not reached fly to comms hold wp */
if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) {
warnx("%d data link losses, limit is %d, fly to airfield home",
_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter);
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold");
_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
}
} else {
warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter);
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold");
_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
/* comms hold wp not active, fly to airfield home directly */
warnx("Skipping comms hold wp. Flying directly to airfield home");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home, comms hold skipped");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
}
break;
case DLL_STATE_FLYTOCOMMSHOLDWP: