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Fix failsafe RTH not activating from CRUISE mode if sticks were not centered

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2018-08-17 22:29:38 +02:00
parent 3c56215dce
commit 0bf51debd4
3 changed files with 19 additions and 2 deletions
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15
src/main/navigation/navigation.c
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@ -365,6 +365,12 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_CRUISE_2D_ADJUSTING,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
@ -383,6 +389,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_CRUISE_3D_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_3D_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_3D_IN_PROGRESS,
@ -404,7 +411,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}
},
[NAV_STATE_CRUISE_3D_ADJUSTING] = {
[NAV_STATE_CRUISE_3D_ADJUSTING] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_3D_ADJUSTING,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_3D_ADJUSTING,
.timeoutMs = 10,
@ -417,6 +424,12 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_CRUISE_3D_ADJUSTING,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},