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commander FW don't allow FOLLOW or OFFBOARD

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This commit is contained in:
Daniel Agar
2017-02-07 23:22:24 -05:00
committed by Lorenz Meier
parent 1f4155c208
commit d0b188f585
1 changed files with 16 additions and 2 deletions
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18
src/modules/commander/state_machine_helper.cpp
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@@ -383,6 +383,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_ACRO:
case commander_state_s::MAIN_STATE_RATTITUDE:
/* ACRO and RATTITUDE only implemented in MC */
if (status->is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
@@ -419,6 +421,14 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
break;
case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET:
/* FOLLOW only implemented in MC */
if (status->is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_AUTO_MISSION:
case commander_state_s::MAIN_STATE_AUTO_RTL:
case commander_state_s::MAIN_STATE_AUTO_TAKEOFF:
@@ -433,8 +443,12 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_OFFBOARD:
/* need offboard signal */
if (!status_flags->offboard_control_signal_lost) {
/* need offboard signal
* OFFBOARD only implemented in MC
*/
if (!status_flags->offboard_control_signal_lost
&& status->is_rotary_wing) {
ret = TRANSITION_CHANGED;
}