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Add loiter option to COM_OBL_RC_ACT (#7170)

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lovettchris
2017-05-08 11:17:29 -07:00
committed by Daniel Agar
parent 341bd6e836
commit 47faaa5d78
2 changed files with 4 additions and 1 deletions
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src/modules/commander/commander_params.c
+1 -1
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@@ -345,7 +345,7 @@ PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
* @value 2 Manual * @value 2 Manual
* @value 3 Return to Land * @value 3 Return to Land
* @value 4 Land at current position * @value 4 Land at current position
* * @value 5 Loiter
* @group Mission * @group Mission
*/ */
PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0); PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
src/modules/commander/state_machine_helper.cpp
+3
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@@ -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) { } else if (offb_loss_rc_act == 4 && status_flags->condition_global_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; 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) { } else if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;