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shota 2023-08-02 18:00:52 +09:00
parent 1bdca4e02c
commit c9ff9cd099
4 changed files with 25 additions and 36 deletions
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16
src/main/navigation/navigation.c
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@ -982,14 +982,22 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_MIXERAT_IN_PROGRESS, // re-process the state
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME] = NAV_STATE_RTH_HEAD_HOME, // re-process the state
[NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING] = NAV_STATE_RTH_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME] = NAV_STATE_RTH_HEAD_HOME, //switch to its pending state
[NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING] = NAV_STATE_RTH_LANDING, //switch to its pending state
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_LAUNCH] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_MIXERAT_ABORT,
}
},
[NAV_STATE_MIXERAT_ABORT] = {
.persistentId = NAV_PERSISTENT_ID_MIXERAT_ABORT,
.onEntry = navOnEnteringState_NAV_STATE_MIXERAT_ABORT,
.onEntry = navOnEnteringState_NAV_STATE_MIXERAT_ABORT, //will not switch to its pending state
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
.mapToFlightModes = NAV_ALTHOLD_MODE,