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fixed-wing landing: dont allow land abort while flaring

This commit is contained in:
Thomas Stastny 2022-10-21 18:53:19 +02:00 committed by Daniel Agar
parent a8c2eaf3e0
commit 4b036e6723
1 changed files with 32 additions and 29 deletions
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61
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -617,42 +617,45 @@ FixedwingPositionControl::landing_status_publish()
void
FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_status)
{
// only announce changes
if (new_abort_status > 0 && _landing_abort_status != new_abort_status) {
if (!_flare_states.flaring) {
switch (new_abort_status) {
case (position_controller_landing_status_s::ABORTED_BY_OPERATOR): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted by operator\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_operator_abort"), events::Log::Critical,
"Landing aborted by operator");
break;
}
// only announce changes
if (new_abort_status > 0 && _landing_abort_status != new_abort_status) {
case (position_controller_landing_status_s::TERRAIN_NOT_FOUND): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate not found\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_not_found"), events::Log::Critical,
"Landing aborted: terrain measurement not found");
break;
}
switch (new_abort_status) {
case (position_controller_landing_status_s::ABORTED_BY_OPERATOR): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted by operator\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_operator_abort"), events::Log::Critical,
"Landing aborted by operator");
break;
}
case (position_controller_landing_status_s::TERRAIN_TIMEOUT): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate timed out\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_timeout"), events::Log::Critical,
"Landing aborted: terrain estimate timed out");
break;
}
case (position_controller_landing_status_s::TERRAIN_NOT_FOUND): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate not found\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_not_found"), events::Log::Critical,
"Landing aborted: terrain measurement not found");
break;
}
default: {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: unknown criterion\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_unknown_criterion"), events::Log::Critical,
"Landing aborted: unknown criterion");
case (position_controller_landing_status_s::TERRAIN_TIMEOUT): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate timed out\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_timeout"), events::Log::Critical,
"Landing aborted: terrain estimate timed out");
break;
}
default: {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: unknown criterion\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_unknown_criterion"), events::Log::Critical,
"Landing aborted: unknown criterion");
}
}
}
}
_landing_abort_status = (new_abort_status >= position_controller_landing_status_s::UNKNOWN_ABORT_CRITERION) ?
position_controller_landing_status_s::UNKNOWN_ABORT_CRITERION : new_abort_status;
landing_status_publish();
_landing_abort_status = (new_abort_status >= position_controller_landing_status_s::UNKNOWN_ABORT_CRITERION) ?
position_controller_landing_status_s::UNKNOWN_ABORT_CRITERION : new_abort_status;
landing_status_publish();
}
}
void