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px4-firmware
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make navigator mode a child of navigator

This commit is contained in:
Thomas Gubler 2014-08-15 20:53:03 +02:00
parent 089c4f0fd5
commit 5406ba78a8
4 changed files with 18 additions and 15 deletions
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19
src/modules/navigator/datalinkloss.cpp
View File

@ -58,14 +58,14 @@
DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_vehicleStatus(&getSubscriptions(), ORB_ID(vehicle_status), 100),
_param_commsholdwaittime(this, "NAV_DLL_CH_T", false),
_param_commsholdlat(this, "NAV_DLL_CH_LAT", false),
_param_commsholdlon(this, "NAV_DLL_CH_LON", false),
_param_commsholdalt(this, "NAV_DLL_CH_ALT", false),
_param_airfieldhomelat(this, "NAV_DLL_AH_LAT", false),
_param_airfieldhomelon(this, "NAV_DLL_AH_LON", false),
_param_airfieldhomealt(this, "NAV_DLL_AH_ALT", false),
_param_numberdatalinklosses(this, "NAV_DLL_N", false),
_param_commsholdwaittime(this, "CH_T"),
_param_commsholdlat(this, "CH_LAT"),
_param_commsholdlon(this, "CH_LON"),
_param_commsholdalt(this, "CH_ALT"),
_param_airfieldhomelat(this, "AH_LAT"),
_param_airfieldhomelon(this, "AH_LON"),
_param_airfieldhomealt(this, "AH_ALT"),
_param_numberdatalinklosses(this, "N"),
_dll_state(DLL_STATE_NONE)
{
/* load initial params */
@ -182,14 +182,17 @@ DataLinkLoss::advance_dll()
updateSubscriptions();
if (_vehicleStatus.data_link_lost_counter > _param_numberdatalinklosses.get()) {
warnx("too many data link losses, fly to airfield home");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
warnx("fly to comms hold");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold");
_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
}
break;
case DLL_STATE_FLYTOCOMMSHOLDWP:
warnx("fly to airfield home");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();

6
src/modules/navigator/mission.cpp
View File

@ -59,9 +59,9 @@
Mission::Mission(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_onboard_enabled(this, "ONBOARD_EN"),
_param_takeoff_alt(this, "TAKEOFF_ALT"),
_param_dist_1wp(this, "DIST_1WP"),
_param_onboard_enabled(this, "MIS_ONBOARD_EN", false),
_param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false),
_param_dist_1wp(this, "MIS_DIST_1WP", false),
_onboard_mission({0}),
_offboard_mission({0}),
_current_onboard_mission_index(-1),

2
src/modules/navigator/navigator_mode.cpp
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@ -43,7 +43,7 @@
#include "navigator.h"
NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
SuperBlock(NULL, name),
SuperBlock(navigator, name),
_navigator(navigator),
_first_run(true)
{

6
src/modules/navigator/rtl.cpp
View File

@ -58,9 +58,9 @@
RTL::RTL(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_rtl_state(RTL_STATE_NONE),
_param_return_alt(this, "RETURN_ALT"),
_param_descend_alt(this, "DESCEND_ALT"),
_param_land_delay(this, "LAND_DELAY")
_param_return_alt(this, "RTL_RETURN_ALT", false),
_param_descend_alt(this, "RTL_DESCEND_ALT", false),
_param_land_delay(this, "RTL_LAND_DELAY", false)
{
/* load initial params */
updateParams();