fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 17:49:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
- 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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
src/modules/flight_mode_manager/FlightModeManager.cpp
View File

@ -215,26 +215,6 @@ void FlightModeManager::start_flight_task()
_task_failure_count = 0;
}
} else if (_vehicle_control_mode_sub.get().flag_control_auto_enabled) {
// Auto related maneuvers
should_disable_task = false;
FlightTaskError error = FlightTaskError::NoError;
error = switchTask(FlightTaskIndex::AutoLineSmoothVel);
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Auto activation failed with error: %s", errorToString(error));
}
task_failure = true;
_task_failure_count++;
} else {
// we want to be in this mode, reset the failure count
_task_failure_count = 0;
}
} else if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND) {
// Emergency descend
@ -256,6 +236,26 @@ void FlightModeManager::start_flight_task()
_task_failure_count = 0;
}
} else if (_vehicle_control_mode_sub.get().flag_control_auto_enabled) {
// Auto related maneuvers
should_disable_task = false;
FlightTaskError error = FlightTaskError::NoError;
error = switchTask(FlightTaskIndex::AutoLineSmoothVel);
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Auto activation failed with error: %s", errorToString(error));
}
task_failure = true;
_task_failure_count++;
} else {
// we want to be in this mode, reset the failure count
_task_failure_count = 0;
}
}
// manual position control