dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

navigator: reset triplets if navigation mode changes (#8285)

This commit is contained in:
Dennis Mannhart 2017-11-14 17:32:21 +01:00 committed by Daniel Agar
parent ef906d08d3
commit 05c00855c4
1 changed files with 21 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
src/modules/navigator/navigator_main.cpp
View File

@ -610,60 +610,62 @@ Navigator::task_main()
}
/* Do stuff according to navigation state set by commander */
NavigatorMode *navigation_mode_new{nullptr};
switch (_vstatus.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
navigation_mode_new = &_mission;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_loiter;
navigation_mode_new = &_loiter;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_rcLoss;
navigation_mode_new = &_rcLoss;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_rtl;
navigation_mode_new = &_rtl;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_takeoff;
navigation_mode_new = &_takeoff;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_land;
navigation_mode_new = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_land;
navigation_mode_new = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_dataLinkLoss;
navigation_mode_new = &_dataLinkLoss;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_engineFailure;
navigation_mode_new = &_engineFailure;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_gpsFailure;
navigation_mode_new = &_gpsFailure;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_follow_target;
navigation_mode_new = &_follow_target;
break;
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
@ -675,11 +677,18 @@ Navigator::task_main()
case vehicle_status_s::NAVIGATION_STATE_STAB:
default:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = nullptr;
navigation_mode_new = nullptr;
_can_loiter_at_sp = false;
break;
}
/* we have a new navigation mode: reset triplet */
if (_navigation_mode != navigation_mode_new) {
reset_triplets();
}
_navigation_mode = navigation_mode_new;
/* iterate through navigation modes and set active/inactive for each */
for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);