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commander mission valid check require updated mission_result

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This commit is contained in:
Daniel Agar
2017-12-19 11:02:34 -05:00
committed by Lorenz Meier
parent 916d6a15fd
commit b1a3475ebf
2 changed files with 38 additions and 37 deletions
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4
src/modules/commander/state_machine_helper.cpp
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@@ -454,9 +454,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_MISSION:
/* need global position, home position, and a valid mission */
// TODO: require mission? condition_auto_mission_available
if (status_flags->condition_global_position_valid &&
status_flags->condition_home_position_valid) {
status_flags->condition_auto_mission_available) {
ret = TRANSITION_CHANGED;
}
@@ -1128,7 +1127,6 @@ int prearm_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub,
// mission required
if ((arm_requirements & ARM_REQ_MISSION_BIT) &&
(!status_flags->condition_auto_mission_available ||
!status_flags->condition_home_position_valid ||
!status_flags->condition_global_position_valid)) {
prearm_ok = false;