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commander: move valid mission check inside

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I think it makes more sense to move this check inside of
main_state_transition.
This commit is contained in:
Julian Oes
2021-05-06 14:32:45 +02:00
committed by Matthias Grob
parent 916ffef04c
commit 52563264e6
2 changed files with 7 additions and 9 deletions
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src/modules/commander/Commander.cpp
-6
View File
@@ -813,13 +813,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
break; break;
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION: case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
if (_status_flags.condition_auto_mission_available) {
desired_main_state = commander_state_s::MAIN_STATE_AUTO_MISSION; desired_main_state = commander_state_s::MAIN_STATE_AUTO_MISSION;
} else {
main_ret = TRANSITION_DENIED;
}
break; break;
case PX4_CUSTOM_SUB_MODE_AUTO_RTL: case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
src/modules/commander/state_machine_helper.cpp
+5 -1
View File
@@ -368,8 +368,12 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_AUTO_MISSION: case commander_state_s::MAIN_STATE_AUTO_MISSION:
if (!status_flags.condition_auto_mission_available) {
ret = TRANSITION_DENIED;
}
/* need global position, home position, and a valid mission */ /* need global position, home position, and a valid mission */
if (status_flags.condition_global_position_valid && else if (status_flags.condition_global_position_valid &&
status_flags.condition_auto_mission_available) { status_flags.condition_auto_mission_available) {
ret = TRANSITION_CHANGED; ret = TRANSITION_CHANGED;