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Merge branch 'beta' into acro2

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This commit is contained in:
Anton Babushkin
2014-02-01 11:27:41 +01:00
parent 2923bdf39f 8897894b19
commit 77c6231c8e
7 changed files with 86 additions and 38 deletions
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2
src/modules/commander/state_machine_helper.cpp
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@@ -386,6 +386,7 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
break;
case FAILSAFE_STATE_RTL:
/* global position and home position required for RTL */
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->set_nav_state = NAV_STATE_RTL;
@@ -396,6 +397,7 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
break;
case FAILSAFE_STATE_LAND:
/* at least relative altitude estimate required for landing */
if (status->condition_local_altitude_valid || status->condition_global_position_valid) {
status->set_nav_state = NAV_STATE_LAND;