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WP mode activation control fix #9768

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merged 1 commit into from
Mar 4, 2024
Merged

WP mode activation control fix #9768

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58 changes: 32 additions & 26 deletions src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -4322,22 +4322,6 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
posControl.rthSanityChecker.rthSanityOK = true;

/* WP mission activation control:
* canActivateWaypoint & waypointWasActivated are used to prevent WP mission
* auto restarting after interruption by Manual or RTH modes.
* WP mode must be deselected before it can be reactivated again. */
static bool waypointWasActivated = false;
const bool isWpMissionLoaded = isWaypointMissionValid();
bool canActivateWaypoint = isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive; // Block activation if using WP Mission Planner

if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
canActivateWaypoint = false;
if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
canActivateWaypoint = true;
waypointWasActivated = false;
}
}

/* Airplane specific modes */
if (STATE(AIRPLANE)) {
// LAUNCH mode has priority over any other NAV mode
Expand Down Expand Up @@ -4377,14 +4361,36 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}

/* Pilot-triggered RTH, also fall-back for WP if there is no mission loaded.
* WP prevented from falling back to RTH if WP mission planner is active */
const bool wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive;
/* WP mission activation control:
* canActivateWaypoint & waypointWasActivated are used to prevent WP mission
* auto restarting after interruption by Manual or RTH modes.
* WP mode must be deselected before it can be reactivated again
* WP Mode also inhibited when Mission Planner is active */
static bool waypointWasActivated = false;
bool canActivateWaypoint = isWaypointMissionValid();
bool wpRthFallbackIsActive = false;

if (IS_RC_MODE_ACTIVE(BOXMANUAL) || posControl.flags.wpMissionPlannerActive) {
canActivateWaypoint = false;
} else {
if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
canActivateWaypoint = false;

if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
canActivateWaypoint = true;
waypointWasActivated = false;
}
}

wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint;
}

/* Pilot-triggered RTH, also fall-back for WP if no mission is loaded.
* Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
* Without this loss of any of the canActivateNavigation && canActivateAltHold
* will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
* logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc) */
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || wpRthFallbackIsActive) {
// Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
// Without this loss of any of the canActivateNavigation && canActivateAltHold
// will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
// logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc)
if (isExecutingRTH || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}
Expand All @@ -4398,11 +4404,11 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
// Pilot-activated waypoint mission. Fall-back to RTH if no mission loaded.
// Also check multimission mission change status before activating WP mode.
#ifdef USE_MULTI_MISSION
if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) {
if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP)) {
#else
if (IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) {
if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
#endif
if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
waypointWasActivated = true;
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
}
Expand Down
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