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navigator: renamed the different RTL states

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This commit is contained in:
Julian Oes
2014-06-12 19:09:18 +02:00
parent d9a64bb587
commit d48a8bc073
5 changed files with 32 additions and 31 deletions
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src/modules/commander/commander.cpp
+5 -5
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@@ -1300,7 +1300,7 @@ int commander_thread_main(int argc, char *argv[])
/* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RTL_RC;
status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
} else {
status.failsafe_state = FAILSAFE_STATE_LAND;
}
@@ -1313,10 +1313,10 @@ int commander_thread_main(int argc, char *argv[])
/* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */
if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION &&
mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RTL_RC) {
mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RC_LOSS) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RTL_RC;
status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished");
} else {
/* this probably doesn't make sense since we are in mission and have global position */
@@ -1719,8 +1719,8 @@ set_control_mode()
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTL_RC:
case NAVIGATION_STATE_AUTO_RTL_DL:
case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;