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Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL

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- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-25 11:56:09 +02:00
committed by Roman Bapst
parent b77487d69c
commit f02786d112
15 changed files with 59 additions and 459 deletions
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msg/vehicle_status.msg
+2 -2
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@@ -30,9 +30,9 @@ uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down)
uint8 NAVIGATION_STATE_UNUSED = 9 # Free slot
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_UNUSED = 11 # Free slot
uint8 NAVIGATION_STATE_UNUSED1 = 11 # Free slot
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14