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Added position lock check

This commit is contained in:
Lorenz Meier 2012-12-27 18:36:37 +01:00
parent f5bad08bd0
commit e2196bca4f
2 changed files with 23 additions and 2 deletions
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20
apps/commander/commander.c
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@ -1589,6 +1589,26 @@ int commander_thread_main(int argc, char *argv[])
state_changed = true;
}
/*
* Mark the position of the first position lock as return to launch (RTL)
* position. The MAV will return here on command or emergency.
*
* Conditions:
*
* 1) The system aquired position lock just now
* 2) The system has not aquired position lock before
* 3) The system is not armed (on the ground)
*/
if (!current_status.flag_valid_launch_position &&
!vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
!current_status.flag_system_armed) {
/* first time a valid position, store it and emit it */
// XXX implement storage and publication of RTL position
current_status.flag_valid_launch_position = true;
current_status.flag_auto_flight_mode_ok = true;
state_changed = true;
}
/* Check if last transition deserved an audio event */

5
apps/uORB/topics/vehicle_status.h
View File

@ -170,9 +170,10 @@ struct vehicle_status_s
uint16_t errors_count3;
uint16_t errors_count4;
bool flag_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
bool flag_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
bool flag_local_position_valid;
bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
bool flag_auto_flight_mode_ok; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_valid_launch_position; /**< indicates a valid launch position */
};