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HITL: Remove hard requirement for airframes

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Lorenz Meier
2017-12-29 09:09:37 +01:00
parent 2eb3392c39
commit 6a701adf3c
1 changed files with 0 additions and 17 deletions
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17
src/modules/commander/state_machine_helper.cpp
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@@ -520,23 +520,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
int32_t hitl_on = 0;
param_get(param_find("SYS_HITL"), &hitl_on);
int32_t airframe = 0;
param_get(param_find("SYS_AUTOSTART"), &airframe);
if (!(airframe == 1000
|| airframe == 1001
|| airframe == 4001
|| airframe == 4002
|| airframe == 4010
|| airframe == 4011)) {
mavlink_log_critical(mavlink_log_pub, "Not a supported airframe config for HITL.");
ret = TRANSITION_DENIED;
break;
}
// Check for compatible airframes
if (hitl_on) {
mavlink_log_info(mavlink_log_pub, "Enabled Hardware-in-the-loop simulation (HITL).");