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allow local position for takeoff (e.g. flow)

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ChristophTobler
2017-02-06 16:48:37 +01:00
committed by Lorenz Meier
parent 194f0c1de8
commit 1f7fdb2386
4 changed files with 45 additions and 9 deletions
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18
src/modules/commander/state_machine_helper.cpp
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@@ -428,8 +428,6 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_MISSION:
case commander_state_s::MAIN_STATE_AUTO_RTL:
case commander_state_s::MAIN_STATE_AUTO_TAKEOFF:
case commander_state_s::MAIN_STATE_AUTO_LAND:
/* need global position and home position */
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
@@ -438,6 +436,16 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
break;
case commander_state_s::MAIN_STATE_AUTO_TAKEOFF:
case commander_state_s::MAIN_STATE_AUTO_LAND:
/* need local position */
if (status_flags->condition_local_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_OFFBOARD:
/* need offboard signal
@@ -937,8 +945,7 @@ bool set_nav_state(struct vehicle_status_s *status,
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure || (!status_flags->condition_global_position_valid ||
!status_flags->condition_home_position_valid)) {
} else if (status_flags->gps_failure || !status_flags->condition_local_position_valid) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
if (status_flags->condition_local_position_valid) {
@@ -964,8 +971,7 @@ bool set_nav_state(struct vehicle_status_s *status,
if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure || (!status_flags->condition_global_position_valid ||
!status_flags->condition_home_position_valid)) {
} else if (status_flags->gps_failure || !status_flags->condition_local_position_valid) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
if (status_flags->condition_local_altitude_valid) {