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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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src/modules/commander/Commander.cpp
+7 -13
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@@ -3304,8 +3304,8 @@ Commander::update_control_mode()
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode;
_vehicle_control_mode.flag_control_velocity_enabled = !_status.in_transition_mode;
_vehicle_control_mode.flag_control_position_enabled = true;
_vehicle_control_mode.flag_control_velocity_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
@@ -3321,14 +3321,8 @@ Commander::update_control_mode()
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode;
_vehicle_control_mode.flag_control_velocity_enabled = !_status.in_transition_mode;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = true;
_vehicle_control_mode.flag_control_velocity_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
@@ -3337,7 +3331,7 @@ Commander::update_control_mode()
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
_vehicle_control_mode.flag_control_auto_enabled = false;
_vehicle_control_mode.flag_control_auto_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
@@ -3390,8 +3384,8 @@ Commander::update_control_mode()
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode;
_vehicle_control_mode.flag_control_velocity_enabled = !_status.in_transition_mode;
_vehicle_control_mode.flag_control_position_enabled = true;
_vehicle_control_mode.flag_control_velocity_enabled = true;
break;
default: