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Commander: VTOL quadchuate also triggers a RTL in Loiter and VTOL_Takeoff modes, not just in Mission (#19123)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-02-03 14:18:28 +01:00
committed by GitHub
parent f82c722653
commit 26dba1407b
1 changed files with 8 additions and 0 deletions
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src/modules/commander/state_machine_helper.cpp
+8
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@@ -629,6 +629,10 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status_flags.vtol_transition_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status.data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
// Data link lost, data link loss reaction configured -> do configured reaction
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
@@ -739,6 +743,10 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status_flags.vtol_transition_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status.data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
// Data link lost, data link loss reaction configured -> do configured reaction
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);