fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-22 06:17:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_control_mode publication moved to commander, WIP

Browse Source
This commit is contained in:
Anton Babushkin
2014-01-27 20:49:17 +01:00
parent 20108ed95d
commit d1508a7813
8 changed files with 265 additions and 287 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/state_machine_helper.cpp
+4
View File
@@ -384,6 +384,8 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
case FAILSAFE_STATE_RTL:
/* global position and home position required for RTL */
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->set_nav_state = NAV_STATE_RTL;
status->set_nav_state_timestamp = hrt_absolute_time();
ret = TRANSITION_CHANGED;
}
@@ -392,6 +394,8 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
case FAILSAFE_STATE_LAND:
/* at least relative altitude estimate required for landing */
if (status->condition_local_altitude_valid || status->condition_global_position_valid) {
status->set_nav_state = NAV_STATE_LAND;
status->set_nav_state_timestamp = hrt_absolute_time();
ret = TRANSITION_CHANGED;
}