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vehicle_local_position topic updated, position_estimator_inav and commander fixes, only altitude estimate required for SETBELT now.

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This commit is contained in:
Anton Babushkin
2013-08-18 23:05:26 +02:00
parent 2be5240b9f
commit ffc2a8b7a3
10 changed files with 194 additions and 212 deletions
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src/modules/commander/state_machine_helper.cpp
+7 -20
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@@ -217,9 +217,8 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_SEATBELT:
/* need position estimate */
// TODO only need altitude estimate really
if (current_state->condition_local_position_valid) {
/* need altitude estimate */
if (current_state->condition_local_altitude_valid) {
ret = TRANSITION_CHANGED;
}
@@ -227,7 +226,7 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_EASY:
/* need position estimate */
/* need local position estimate */
if (current_state->condition_local_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -236,8 +235,8 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_AUTO:
/* need position estimate */
if (current_state->condition_local_position_valid) {
/* need global position estimate */
if (current_state->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -277,17 +276,6 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_
} else {
switch (new_navigation_state) {
case NAVIGATION_STATE_STANDBY:
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = false;
control_mode->flag_control_attitude_enabled = false;
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_altitude_enabled = false;
control_mode->flag_control_climb_rate_enabled = false;
control_mode->flag_control_manual_enabled = false;
break;
case NAVIGATION_STATE_DIRECT:
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
@@ -394,9 +382,8 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_
case NAVIGATION_STATE_AUTO_LAND:
/* deny transitions from landed states */
if (current_status->navigation_state != NAVIGATION_STATE_STANDBY &&
current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) {
/* deny transitions from landed state */
if (current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) {
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;