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Merge remote-tracking branch 'origin/development' into dzikuvx-mr-cruise-experiments

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-09-16 09:34:20 +02:00
commit 507b832263
72 changed files with 768 additions and 414 deletions
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15
src/main/navigation/navigation.c
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@ -373,6 +373,12 @@ 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,
}
},
@ -391,6 +397,7 @@ 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,
@ -412,7 +419,7 @@ 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,
@ -425,6 +432,12 @@ 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,
}
},