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commander: require home position for MISSION, fallback to LOITER

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Anton Babushkin
2014-07-06 21:37:26 +02:00
parent 829a317d23
commit 06f08ad04d
2 changed files with 8 additions and 1 deletions
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src/modules/commander/commander.cpp
+7
View File
@@ -1718,6 +1718,13 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
}
print_reject_mode(status, "AUTO_MISSION");
// fallback to LOITER if home position not set
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
}
// fallback to POSCTL
src/modules/commander/state_machine_helper.cpp
+1 -1
View File
@@ -271,7 +271,6 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
}
break;
case MAIN_STATE_AUTO_MISSION:
case MAIN_STATE_AUTO_LOITER:
/* need global position estimate */
if (status->condition_global_position_valid) {
@@ -279,6 +278,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
}
break;
case MAIN_STATE_AUTO_MISSION:
case MAIN_STATE_AUTO_RTL:
/* need global position and home position */
if (status->condition_global_position_valid && status->condition_home_position_valid) {