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navigator: forbid READY - > RTL transition

This commit is contained in:
Anton Babushkin 2014-02-06 11:56:01 +01:00
parent 9262df6022
commit 29b0678d84
1 changed files with 3 additions and 5 deletions
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8
src/modules/navigator/navigator_main.cpp
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@ -689,7 +689,7 @@ Navigator::task_main()
if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
/* switch to RTL if not already landed after RTL and home position set */
if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
(myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
@ -748,7 +748,7 @@ Navigator::task_main()
case NAV_STATE_RTL:
if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
(myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
@ -756,9 +756,7 @@ Navigator::task_main()
break;
case NAV_STATE_LAND:
if (myState != NAV_STATE_READY) {
dispatch(EVENT_LAND_REQUESTED);
}
dispatch(EVENT_LAND_REQUESTED);
break;