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commander: use the gps_failure flag 

The gps_failure flag had been ignored in some navigation states.
sbg
Julian Oes 9 years ago committed by Lorenz Meier
parent
4d10759699
commit
fe29d99d62
1 changed files with 12 additions and 2 deletions
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  1. 14
      src/modules/commander/state_machine_helper.cpp

14
src/modules/commander/state_machine_helper.cpp
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@ -725,6 +725,11 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in @@ -725,6 +725,11 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
/* go into failsafe on a engine failure */
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
status->failsafe = true;
/* also go into failsafe if just datalink is lost */
} else if (status->data_link_lost && data_link_loss_enabled) {
status->failsafe = true;
@ -769,6 +774,11 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in @@ -769,6 +774,11 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
status->failsafe = true;
} else if ((!status_flags->condition_global_position_valid ||
!status_flags->condition_home_position_valid)) {
status->failsafe = true;
@ -810,7 +820,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in @@ -810,7 +820,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if ((!status_flags->condition_global_position_valid ||
} else if (status_flags->gps_failure || (!status_flags->condition_global_position_valid ||
!status_flags->condition_home_position_valid)) {
status->failsafe = true;
@ -831,7 +841,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in @@ -831,7 +841,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if ((!status_flags->condition_global_position_valid ||
} else if (status_flags->gps_failure || (!status_flags->condition_global_position_valid ||
!status_flags->condition_home_position_valid)) {
status->failsafe = true;

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