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commander: add wind or flight time limit exceeded mode requirement

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This prevents switching into any of these modes once the condition is set.
This commit is contained in:
Beat Küng
2023-02-01 08:48:09 +01:00
committed by Silvan Fuhrer
parent a8628c9d9c
commit b1709743f7
5 changed files with 14 additions and 2 deletions
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src/modules/commander/ModeUtil/mode_requirements.cpp
+5
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@@ -54,6 +54,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
flags.mode_req_mission = 0;
flags.mode_req_offboard_signal = 0;
flags.mode_req_home_position = 0;
flags.mode_req_wind_and_flight_time_compliance = 0;
flags.mode_req_prevent_arming = 0;
flags.mode_req_other = 0;
@@ -82,6 +83,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_global_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_mission);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_wind_and_flight_time_compliance);
// NAVIGATION_STATE_AUTO_LOITER
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_angular_velocity);
@@ -89,6 +91,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_global_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_wind_and_flight_time_compliance);
// NAVIGATION_STATE_AUTO_RTL
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_angular_velocity);
@@ -139,6 +142,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_local_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_prevent_arming);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_wind_and_flight_time_compliance);
// NAVIGATION_STATE_AUTO_PRECLAND
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_angular_velocity);
@@ -153,6 +157,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_local_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_prevent_arming);
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_wind_and_flight_time_compliance);
// NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_angular_velocity);