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RTL mode switching: Allow to flick to RTL in any mode.

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This commit is contained in:
Lorenz Meier
2015-04-19 16:20:07 +02:00
parent 2f5239c17a
commit b9d17241a3
1 changed files with 23 additions and 18 deletions
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src/modules/commander/commander.cpp
+23 -18
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@@ -2220,13 +2220,34 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
/* mode rejected, continue to evaluate the main system mode */
} else {
/* changed successfully or already in this state */
return res;
}
}
/* offboard switched off or denied, check main mode switch */
/* RTL switch overrides main switch */
if (sp_man->return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_RTL);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "AUTO_RTL");
/* fallback to LOITER if home position not set */
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
/* changed successfully or already in this state */
return res;
}
/* mode rejected, continue to evaluate the main system mode */
}
}
/* offboard and RTL switches off or denied, check main mode switch */
switch (sp_man->mode_switch) {
case manual_control_setpoint_s::SWITCH_POS_NONE:
res = TRANSITION_NOT_CHANGED;
@@ -2271,23 +2292,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
break;
case manual_control_setpoint_s::SWITCH_POS_ON: // AUTO
if (sp_man->return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_RTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status_local, "AUTO_RTL");
// fallback to LOITER if home position not set
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
} else if (sp_man->loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
if (sp_man->loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {