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added descend into navigation using existing land helper, downstream logic handles ignoring position setpoints (despite being populated), tested with multirotor in gazebo

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Nic
2016-03-28 12:27:20 +02:00
committed by Lorenz Meier
parent 5418e17a99
commit b600e3ee93
1 changed files with 4 additions and 0 deletions
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src/modules/navigator/navigator_main.cpp
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@@ -483,6 +483,10 @@ Navigator::task_main()
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */