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NAV: Prevent switching to IDLE state on GPS loss - keep activated flight mode and give chance for EMERG controller to kick in. Emergency GPS timeout set to 5 seconds.

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-12-21 19:46:50 +10:00
parent d26c8b0e01
commit c8b7e8ae74
2 changed files with 8 additions and 7 deletions
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13
src/main/flight/navigation_rewrite.c
View file

@ -1970,7 +1970,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
return NAV_FSM_EVENT_SWITCH_TO_RTH; return NAV_FSM_EVENT_SWITCH_TO_RTH;
} }
else if (IS_RC_MODE_ACTIVE(BOXNAVRTH)) { else if (IS_RC_MODE_ACTIVE(BOXNAVRTH)) {
if (canActivatePosHold && STATE(GPS_FIX_HOME)) if ((FLIGHT_MODE(NAV_RTH_MODE)) || (canActivatePosHold && STATE(GPS_FIX_HOME)))
return NAV_FSM_EVENT_SWITCH_TO_RTH; return NAV_FSM_EVENT_SWITCH_TO_RTH;
} }
@ -1980,22 +1980,23 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
} }
if (IS_RC_MODE_ACTIVE(BOXNAVWP)) { if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
if (canActivatePosHold && canActivateAltHold && STATE(GPS_FIX_HOME) && ARMING_FLAG(ARMED) && posControl.waypointListValid && (posControl.waypointCount > 0)) if ((FLIGHT_MODE(NAV_WP_MODE)) || (canActivatePosHold && canActivateAltHold && STATE(GPS_FIX_HOME) && ARMING_FLAG(ARMED) && posControl.waypointListValid && (posControl.waypointCount > 0)))
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT; return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
} }
if (IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) { if (IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
if (canActivatePosHold && canActivateAltHold) if ((FLIGHT_MODE(NAV_ALTHOLD_MODE) && FLIGHT_MODE(NAV_POSHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D; return NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D;
} }
if (IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD)) { if (IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD)) {
if (canActivatePosHold) if ((FLIGHT_MODE(NAV_POSHOLD_MODE)) || (canActivatePosHold))
return NAV_FSM_EVENT_SWITCH_TO_POSHOLD_2D; return NAV_FSM_EVENT_SWITCH_TO_POSHOLD_2D;
} }
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && canActivateAltHold) { if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
return NAV_FSM_EVENT_SWITCH_TO_ALTHOLD; if ((FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_ALTHOLD;
} }
return NAV_FSM_EVENT_SWITCH_TO_IDLE; return NAV_FSM_EVENT_SWITCH_TO_IDLE;

2
src/main/flight/navigation_rewrite_private.h
View file

@ -22,7 +22,7 @@
#define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR 1.113195f // MagicEarthNumber from APM #define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR 1.113195f // MagicEarthNumber from APM
#define LAND_DETECTOR_TRIGGER_TIME_MS 2000 // 2 seconds #define LAND_DETECTOR_TRIGGER_TIME_MS 2000 // 2 seconds
#define NAV_WAIT_FOR_GPS_TIMEOUT_MS 2000 // GPS wait time-out #define NAV_WAIT_FOR_GPS_TIMEOUT_MS 5000 // GPS wait time-out 5 sec
#define MIN_POSITION_UPDATE_RATE_HZ 5 // Minimum position update rate at which XYZ controllers would be applied #define MIN_POSITION_UPDATE_RATE_HZ 5 // Minimum position update rate at which XYZ controllers would be applied