About RTGS

ross · July 26, 2016, 6:56am

what’s the meaning of the nav_state RTGS <vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS>?
return to ground station?
Thanks!

JulianOes · July 29, 2016, 1:50pm

RTGS does what is specified with parameter

NAV_DLL_ACT

See:

github.com

PX4/Firmware/blob/4b414d96eb9f8ae5f47d6d181770547c284cbfd3/src/modules/navigator/navigator_params.c#L72


*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);


/**
* Set data link loss failsafe mode
*
* The data link loss failsafe will only be entered after a timeout,
* set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected
* action will be executed. Setting this parameter to 4 will enable CASA
* Outback Challenge rules, which are only recommended to participants
* of that competition.
*
* @value 0 Disabled
* @value 1 Loiter

and:

github.com

PX4/Firmware/blob/4b414d96eb9f8ae5f47d6d181770547c284cbfd3/src/modules/navigator/navigator_main.cpp#L582


				_navigation_mode = &_takeoff;
				break;
			case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
				_pos_sp_triplet_published_invalid_once = false;
				_navigation_mode = &_land;
				break;
			case vehicle_status_s::NAVIGATION_STATE_DESCEND:
				_pos_sp_triplet_published_invalid_once = false;
				_navigation_mode = &_land;
				break;
			case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
				/* Use complex data link loss mode only when enabled via param
				* otherwise use rtl */
				_pos_sp_triplet_published_invalid_once = false;
				if (_param_datalinkloss_act.get() == 1) {
					_navigation_mode = &_loiter;
				} else if (_param_datalinkloss_act.get() == 3) {
					_navigation_mode = &_land;
				} else if (_param_datalinkloss_act.get() == 4) {
					_navigation_mode = &_dataLinkLoss;
				} else { /* if == 2 or unknown, RTL */