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Commander: for VTOL_Takeoff only req relaxed position if fixed-wing phase

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When in the fixed-wing phase of the VTOL Takeoff we do not want to
failsafe due to position inaccuracy.

Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-06-26 13:52:38 +02:00
committed by Roman Bapst
parent d79302c366
commit 3f5b46a68c
1 changed files with 7 additions and 1 deletions
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src/modules/commander/ModeUtil/mode_requirements.cpp
+7 -1
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@@ -194,9 +194,15 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
// NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_alt);
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position_relaxed);
} else {
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position);
}
// NAVIGATION_STATE_EXTERNALx: handled outside
static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update mode requirements");