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Added additional vector functions, fixed seatbelt for global estimators

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Lorenz Meier
2013-09-08 21:49:59 +02:00
parent 14828cfda5
commit 11e4fbc374
4 changed files with 51 additions and 15 deletions
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10
src/modules/commander/state_machine_helper.cpp
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@@ -228,8 +228,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_SEATBELT:
/* need altitude estimate */
if (current_state->condition_local_altitude_valid) {
/* need at minimum altitude estimate */
if (current_state->condition_local_altitude_valid ||
current_state->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -237,8 +238,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_EASY:
/* need local position estimate */
if (current_state->condition_local_position_valid) {
/* need at minimum local position estimate */
if (current_state->condition_local_position_valid ||
current_state->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}