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commander: don't start RTL on failsafe if landed

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Anton Babushkin
2014-04-23 19:01:05 +02:00
parent e4a4430f9f
commit 56592ec77d
1 changed files with 8 additions and 3 deletions
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src/modules/commander/commander.cpp
+8 -3
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@@ -1015,7 +1015,7 @@ int commander_thread_main(int argc, char *argv[])
status_changed = true; status_changed = true;
} }
/* update subsystem */ /* update position setpoint triplet */
orb_check(pos_sp_triplet_sub, &updated); orb_check(pos_sp_triplet_sub, &updated);
if (updated) { if (updated) {
@@ -1273,10 +1273,15 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
/* failsafe for manual modes */ /* failsafe for manual modes */
transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); transition_result_t res = TRANSITION_DENIED;
if (!status.condition_landed) {
/* vehicle is not landed, try to perform RTL */
res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
}
if (res == TRANSITION_DENIED) { if (res == TRANSITION_DENIED) {
/* RTL not allowed (no global position estimate), try LAND */ /* RTL not allowed (no global position estimate) or not wanted, try LAND */
res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
if (res == TRANSITION_DENIED) { if (res == TRANSITION_DENIED) {