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FW mode manager/Commander: hanlde invlaid pos in FW manager

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-06-16 11:53:20 +02:00
parent b1af09d391
commit e9e5c45bf3
4 changed files with 152 additions and 8 deletions
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src/modules/fw_mode_manager/FixedWingModeManager.hpp
+11
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@@ -227,6 +227,7 @@ private:
FW_POSCTRL_MODE_AUTO_ALTITUDE,
FW_POSCTRL_MODE_AUTO_CLIMBRATE,
FW_POSCTRL_MODE_AUTO_TAKEOFF,
FW_POSCTRL_MODE_AUTO_TAKEOFF_NO_NAV,
FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
FW_POSCTRL_MODE_AUTO_PATH,
@@ -570,6 +571,16 @@ private:
void control_auto_takeoff(const hrt_abstime &now, const float control_interval, const Vector2d &global_position,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr);
/**
* @brief Controls automatic takeoff without navigation.
*
* @param now Current system time [us]
* @param control_interval Time since last position control call [s]
* @param altitude_setpoint_amsl Altitude setpoint, AMSL [m]
*/
void control_auto_takeoff_no_nav(const hrt_abstime &now, const float control_interval,
const float altitude_setpoint_amsl);
/**
* @brief Controls automatic landing with straight approach.
*