From 47faaa5d78cb24bc816e48a3b4a8af7cf055a756 Mon Sep 17 00:00:00 2001 From: lovettchris Date: Mon, 8 May 2017 11:17:29 -0700 Subject: [PATCH] Add loiter option to COM_OBL_RC_ACT (#7170) --- src/modules/commander/commander_params.c | 2 +- src/modules/commander/state_machine_helper.cpp | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index dc11eba845..22754f5d18 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -345,7 +345,7 @@ PARAM_DEFINE_INT32(COM_OBL_ACT, 0); * @value 2 Manual * @value 3 Return to Land * @value 4 Land at current position - * + * @value 5 Loiter * @group Mission */ PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0); diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 1a9c05f30f..af0790a102 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -830,6 +830,9 @@ bool set_nav_state(struct vehicle_status_s *status, } else if (offb_loss_rc_act == 4 && status_flags->condition_global_position_valid) { status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; + } else if (offb_loss_rc_act == 5 && status_flags->condition_global_position_valid) { + status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; + } else if (status_flags->condition_local_altitude_valid) { status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;