Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-29 03:36:07 +08:00
Code Issues Actions 12 Packages Projects Releases Wiki Activity

commander: always reset posvel validity

Browse Source 
I assume reseting posvel validity is ok for any case, not just all cases
except manual, acro, stabilized.
This commit is contained in:
Julian Oes
2021-05-06 14:34:41 +02:00
committed by Matthias Grob
parent 52563264e6
commit b6af068f25
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+3 -3
View File
@@ -800,12 +800,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
desired_main_state = commander_state_s::MAIN_STATE_ALTCTL;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
reset_posvel_validity();
desired_main_state = commander_state_s::MAIN_STATE_POSCTL;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
if (custom_sub_mode > 0) {
reset_posvel_validity();
switch (custom_sub_mode) {
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
@@ -855,7 +853,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
desired_main_state = commander_state_s::MAIN_STATE_STAB;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
reset_posvel_validity();
desired_main_state = commander_state_s::MAIN_STATE_OFFBOARD;
}
@@ -878,6 +875,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
if (desired_main_state != commander_state_s::MAIN_STATE_MAX) {
reset_posvel_validity();
main_ret = main_state_transition(_status, desired_main_state, _status_flags, _internal_state);
}