Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-24 15:40:31 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

fix(commander): Only require a heading reference when a global origin is set (#27371)

Browse Source
This commit is contained in:
Marco Hauswirth
2026-05-18 17:51:55 +02:00
committed by GitHub
parent 562bdda896
commit 5c7cc9b88e
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+3 -1
View File
@@ -628,9 +628,11 @@ void EstimatorChecks::checkEstimatorStatusFlags(const Context &context, Report &
}
}
// Only require a heading reference when a global origin is set (i.e. global ops are intended)
if (!context.isArmed()
&& (hrt_absolute_time() - estimator_status_flags.timestamp < 5_s)
&& !estimator_status_flags.cs_yaw_align) {
&& !estimator_status_flags.cs_yaw_align
&& lpos.xy_global) {
const NavModes heading_required_groups = (NavModes)(
reporter.failsafeFlags().mode_req_local_position |