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WP: Fix missing timeout condition for JUMP (#5460)

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* WP: Fix missing timeout condition for JUMP
This commit is contained in:
stronnag 2020-02-29 15:41:54 +00:00 • committed by GitHub
parent 3f605fefe9
commit 9a874726e8
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 6 deletions
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13
src/main/navigation/navigation.c
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@ -623,6 +623,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.mwState = MW_NAV_STATE_PROCESS_NEXT,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_PRE_ACTION, // re-process the state (for JUMP)
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
@ -1373,7 +1374,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
posControl.wpInitialDistance = calculateDistanceToDestination(&posControl.activeWaypoint.pos);
posControl.wpInitialAltitude = posControl.actualState.abs.pos.z;
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
case NAV_WP_ACTION_JUMP:
if(posControl.waypointList[posControl.activeWaypointIndex].p2 != -1){
if(posControl.waypointList[posControl.activeWaypointIndex].p2 == 0){
@ -1396,7 +1397,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
}
posControl.activeWaypointIndex = posControl.waypointList[posControl.activeWaypointIndex].p1 - 1;
return NAV_FSM_EVENT_NONE; // re-process the state passing to the next WP
case NAV_WP_ACTION_RTH:
@ -1432,7 +1433,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
}
break;
case NAV_WP_ACTION_JUMP:
case NAV_WP_ACTION_JUMP:
UNREACHABLE();
case NAV_WP_ACTION_RTH:
@ -1466,7 +1467,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_REACHED(naviga
case NAV_WP_ACTION_WAYPOINT:
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_WAYPOINT_NEXT
case NAV_WP_ACTION_JUMP:
case NAV_WP_ACTION_JUMP:
UNREACHABLE();
case NAV_WP_ACTION_RTH:
@ -3112,9 +3113,9 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
for (uint8_t wp = 0; wp < posControl.waypointCount ; wp++){
if (posControl.waypointList[wp].action == NAV_WP_ACTION_JUMP){
if((posControl.waypointList[wp].p1 > posControl.waypointCount) || (posControl.waypointList[wp].p2 < -1)){
return NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR;
return NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR;
}
}
}
}
}