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

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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
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+3 -1
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@@ -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() if (!context.isArmed()
&& (hrt_absolute_time() - estimator_status_flags.timestamp < 5_s) && (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)( const NavModes heading_required_groups = (NavModes)(
reporter.failsafeFlags().mode_req_local_position | reporter.failsafeFlags().mode_req_local_position |