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FlightTasks: add Descend task to land without GPS

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This adds a flight task to catch the case where we want to do an
emergency descent without GPS but only a baro.

Previously, this would lead to the navigator land class being called
without position estimates which then made the flight tasks fail and
react with a flight task failsafe. This however meant that landed was
never detected and a couple of confusing error messages.

This applies if NAV_RCL_ACT is set to 3 "land".
This commit is contained in:
Julian Oes
2019-10-18 16:18:19 +02:00
parent 5f53ae1253
commit de90543d6f
7 changed files with 184 additions and 7 deletions
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src/modules/navigator/navigator_main.cpp
+1 -5
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@@ -591,11 +591,6 @@ Navigator::run()
_precland.set_mode(PrecLandMode::Required);
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_dataLinkLoss;
@@ -620,6 +615,7 @@ Navigator::run()
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
case vehicle_status_s::NAVIGATION_STATE_STAB: