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Merge pull request #538 from thomasgubler/commander_localpos 

update the commander to only use local pos for landing detection when on...
This commit is contained in:
Lorenz Meier 2013-12-13 08:10:42 -08:00
parent 39dcda3996 ea9fcaa27f
commit 3e708f881e
1 changed files with 4 additions and 3 deletions
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7
src/modules/commander/commander.cpp
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@ -871,7 +871,7 @@ int commander_thread_main(int argc, char *argv[])
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
if (status.condition_local_altitude_valid) {
if (status.is_rotary_wing && status.condition_local_altitude_valid) {
if (status.condition_landed != local_position.landed) {
status.condition_landed = local_position.landed;
status_changed = true;
@ -1539,7 +1539,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
// TODO AUTO_LAND handling
if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
/* don't switch to other states until takeoff not completed */
if (local_pos->z > -takeoff_alt || status->condition_landed) {
// XXX: only respect the condition_landed when the local position is actually valid
if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
return TRANSITION_NOT_CHANGED;
}
}
@ -1549,7 +1550,7 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
status->navigation_state != NAVIGATION_STATE_AUTO_MISSION &&
status->navigation_state != NAVIGATION_STATE_AUTO_RTL) {
/* possibly on ground, switch to TAKEOFF if needed */
if (local_pos->z > -takeoff_alt || status->condition_landed) {
if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
return res;
}