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Merge pull request #680 from PX4/ready_rtl_fix 

navigator: forbid READY -> RTL transition
This commit is contained in:
julianoes 2014-03-02 21:22:16 +01:00
parent eee8ee9e0f eac00a71ea
commit 85247e3fdd
1 changed files with 6 additions and 7 deletions
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13
src/modules/navigator/navigator_main.cpp
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@ -695,7 +695,7 @@ 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);
}
@ -741,7 +741,7 @@ 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);
}
@ -749,9 +749,7 @@ Navigator::task_main()
break;
case NAV_STATE_LAND:
if (myState != NAV_STATE_READY) {
dispatch(EVENT_LAND_REQUESTED);
}
dispatch(EVENT_LAND_REQUESTED);
break;
@ -955,7 +953,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
/* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
/* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_READY},
@ -1388,7 +1386,8 @@ Navigator::set_rtl_item()
void
Navigator::request_loiter_or_ready()
{
if (_vstatus.condition_landed) {
/* XXX workaround: no landing detector for fixedwing yet */
if (_vstatus.condition_landed && _vstatus.is_rotary_wing) {
dispatch(EVENT_READY_REQUESTED);
} else {