Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-23 16:25:26 +03:00
Code Issues Wiki Activity

Allow Manual and Althold override

Browse source
This commit is contained in:
breadoven 2021-08-10 11:31:11 +01:00
parent b206967cb8
commit d51a376462
1 changed files with 7 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

12
src/main/navigation/navigation.c
View file

@ -804,7 +804,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_IDLE, // ALTHOLD bails out from emergency (to IDLE, AltHold will take over from there)
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
}
@ -822,7 +822,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_EMERGENCY_LANDING_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_IDLE, // ALTHOLD bails out from emergency (to IDLE, AltHold will take over from there)
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
}
@ -3157,11 +3157,13 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
const bool isExecutingRTH = navGetStateFlags(posControl.navState) & NAV_AUTO_RTH;
checkSafeHomeState(isExecutingRTH || posControl.flags.forcedRTHActivated);
/* Keep Emergency landing mode active once triggered. Is dectivated when landing in progress if WP or RTH cancelled
* or position sensors working again. Remains active if landing finished regardless of sensor status or if
* WP or RTH modes still selected */
/* Keep Emergency landing mode active once triggered. Is deactivated when landing in progress if WP or RTH cancelled
* or position sensors working again or if Manual or Althold modes selected.
* Remains active if landing finished regardless of sensor status or if WP or RTH modes still selected */
if (navigationIsExecutingAnEmergencyLanding()) {
if (!(canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME)) &&
!IS_RC_MODE_ACTIVE(BOXMANUAL) &&
!(IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && canActivateAltHold) &&
(IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVRTH))) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}