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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/mavlink/mavlink_messages.cpp
-5
View File
@@ -261,11 +261,6 @@ union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
break;
src/modules/mavlink/streams/HEARTBEAT.hpp
-3
View File
@@ -134,9 +134,6 @@ private:
} else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL) {
system_status = MAV_STATE_EMERGENCY;
} else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL) {
system_status = MAV_STATE_EMERGENCY;
} else if (vehicle_status_flags.condition_calibration_enabled) {
system_status = MAV_STATE_CALIBRATING;
}