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navigator: renamed the different RTL states

This commit is contained in:
Julian Oes 2014-06-12 19:09:18 +02:00
parent d9a64bb587
commit d48a8bc073
5 changed files with 32 additions and 31 deletions
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10
src/modules/commander/commander.cpp
View File

@ -1300,7 +1300,7 @@ int commander_thread_main(int argc, char *argv[])
/* if we have a global position, we can switch to RTL, if not, we can try to land */ /* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) { if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RTL_RC; status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
} else { } else {
status.failsafe_state = FAILSAFE_STATE_LAND; status.failsafe_state = FAILSAFE_STATE_LAND;
} }
@ -1313,10 +1313,10 @@ int commander_thread_main(int argc, char *argv[])
/* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */ /* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */
if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION && if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION &&
mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RTL_RC) { mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RC_LOSS) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */ /* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) { if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RTL_RC; status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished"); mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished");
} else { } else {
/* this probably doesn't make sense since we are in mission and have global position */ /* this probably doesn't make sense since we are in mission and have global position */
@ -1719,8 +1719,8 @@ set_control_mode()
case NAVIGATION_STATE_AUTO_MISSION: case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER: case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL: case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTL_RC: case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
case NAVIGATION_STATE_AUTO_RTL_DL: case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
control_mode.flag_control_manual_enabled = false; control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true; control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true; control_mode.flag_control_rates_enabled = true;

8
src/modules/commander/state_machine_helper.cpp
View File

@ -406,12 +406,12 @@ void set_nav_state(struct vehicle_status_s *status)
} }
break; break;
case FAILSAFE_STATE_RTL_RC: case FAILSAFE_STATE_RC_LOSS:
status->set_nav_state = NAVIGATION_STATE_AUTO_RTL_RC; status->set_nav_state = NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS;
break; break;
case FAILSAFE_STATE_RTL_DL: case FAILSAFE_STATE_DL_LOSS:
status->set_nav_state = NAVIGATION_STATE_AUTO_RTL_DL; status->set_nav_state = NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS;
break; break;
case FAILSAFE_STATE_LAND: case FAILSAFE_STATE_LAND:

4
src/modules/mavlink/mavlink_messages.cpp
View File

@ -161,8 +161,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
break; break;
case NAVIGATION_STATE_AUTO_RTL: case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTL_RC: case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
case NAVIGATION_STATE_AUTO_RTL_DL: case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED; | MAV_MODE_FLAG_GUIDED_ENABLED;

4
src/modules/navigator/navigator_main.cpp
View File

@ -351,8 +351,8 @@ Navigator::task_main()
_navigation_mode = &_loiter; _navigation_mode = &_loiter;
break; break;
case NAVIGATION_STATE_AUTO_RTL: case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTL_RC: case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
case NAVIGATION_STATE_AUTO_RTL_DL: case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
_navigation_mode = &_rtl; _navigation_mode = &_rtl;
break; break;
case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_LAND:

37
src/modules/uORB/topics/vehicle_status.h
View File

@ -1,10 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (C) 2012 - 2014 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -45,6 +41,11 @@
* All apps should write to subsystem_info: * All apps should write to subsystem_info:
* *
* (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app) * (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app)
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
*/ */
#ifndef VEHICLE_STATUS_H_ #ifndef VEHICLE_STATUS_H_
@ -90,25 +91,25 @@ typedef enum {
typedef enum { typedef enum {
FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */ FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */
FAILSAFE_STATE_RTL_RC, /**< Return To Launch on remote control loss */ FAILSAFE_STATE_RC_LOSS, /**< Return To Launch on remote control loss */
FAILSAFE_STATE_RTL_DL, /**< Return To Launch on datalink loss */ FAILSAFE_STATE_DL_LOSS, /**< Return To Launch on datalink loss */
FAILSAFE_STATE_LAND, /**< Land as safe as possible */ FAILSAFE_STATE_LAND, /**< Land as safe as possible */
FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */ FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */
FAILSAFE_STATE_MAX, FAILSAFE_STATE_MAX,
} failsafe_state_t; } failsafe_state_t;
typedef enum { typedef enum {
NAVIGATION_STATE_MANUAL = 0, NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */
NAVIGATION_STATE_ACRO, NAVIGATION_STATE_ACRO, /**< Acro mode */
NAVIGATION_STATE_ALTCTL, NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */
NAVIGATION_STATE_POSCTL, NAVIGATION_STATE_POSCTL, /**< Position control mode */
NAVIGATION_STATE_AUTO_MISSION, NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */
NAVIGATION_STATE_AUTO_LOITER, NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */
NAVIGATION_STATE_AUTO_RTL, NAVIGATION_STATE_AUTO_RTL, /**< Auto RTL mode */
NAVIGATION_STATE_AUTO_RTL_RC, NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS, /**< Auto failsafe on RC loss mode */
NAVIGATION_STATE_AUTO_RTL_DL, NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS, /**< Auto failsafe on datalink loss mode */
NAVIGATION_STATE_LAND, NAVIGATION_STATE_LAND, /**< Land mode */
NAVIGATION_STATE_TERMINATION, NAVIGATION_STATE_TERMINATION, /**< Termination mode */
} navigation_state_t; } navigation_state_t;
enum VEHICLE_MODE_FLAG { enum VEHICLE_MODE_FLAG {