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added auto takeoff support, updated configuration for solo and generalized landing mission items

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This commit is contained in:
Andreas Antener
2015-12-28 15:21:50 +01:00
committed by Lorenz Meier
parent 3847c826ec
commit fbf42c8949
13 changed files with 287 additions and 30 deletions
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src/modules/navigator/navigator_main.cpp
+6 -1
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@@ -142,6 +142,7 @@ Navigator::Navigator() :
_mission(this, "MIS"),
_loiter(this, "LOI"),
_takeoff(this, "TKF"),
_land(this, "LND"),
_rtl(this, "RTL"),
_rcLoss(this, "RCL"),
_dataLinkLoss(this, "DLL"),
@@ -161,6 +162,7 @@ Navigator::Navigator() :
_navigation_mode_array[5] = &_gpsFailure;
_navigation_mode_array[6] = &_rcLoss;
_navigation_mode_array[7] = &_takeoff;
_navigation_mode_array[8] = &_land;
updateParams();
}
@@ -444,7 +446,6 @@ Navigator::task_main()
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_LAND:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
_navigation_mode = nullptr;
@@ -481,6 +482,10 @@ Navigator::task_main()
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_takeoff;
break;
case vehicle_status_s::NAVIGATION_STATE_LAND:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */