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FW ALTCTL requires altitude

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Daniel Agar
2016-05-31 15:38:44 -04:00
committed by Lorenz Meier
parent 6aa935fed6
commit 99aa5f49fc
1 changed files with 2 additions and 4 deletions
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src/modules/commander/state_machine_helper.cpp
+2 -4
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@@ -361,10 +361,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_ALTCTL: case commander_state_s::MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */ /* need at minimum altitude estimate */
/* TODO: add this for fixedwing as well */ if (status_flags->condition_local_altitude_valid ||
if (!status->is_rotary_wing || status_flags->condition_global_position_valid) {
(status_flags->condition_local_altitude_valid ||
status_flags->condition_global_position_valid)) {
ret = TRANSITION_CHANGED; ret = TRANSITION_CHANGED;
} }
break; break;