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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-08 21:49:59 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-08 21:49:59 +0200 |
| commit | 11e4fbc3745193a61f6f56619318dc1bc0b60307 (patch) | |
| tree | c62437439c681c706a2473f92429091eb0eb29a9 /src/modules/commander/state_machine_helper.cpp | |
| parent | 14828cfda5f4c81cb8366d5eee4eb1e1cab45370 (diff) | |
| download | px4-firmware-11e4fbc3745193a61f6f56619318dc1bc0b60307.tar.gz px4-firmware-11e4fbc3745193a61f6f56619318dc1bc0b60307.tar.bz2 px4-firmware-11e4fbc3745193a61f6f56619318dc1bc0b60307.zip | |
Added additional vector functions, fixed seatbelt for global estimators
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 3cef10185..316b06127 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -228,8 +228,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_SEATBELT: - /* need altitude estimate */ - if (current_state->condition_local_altitude_valid) { + /* need at minimum altitude estimate */ + if (current_state->condition_local_altitude_valid || + current_state->condition_global_position_valid) { ret = TRANSITION_CHANGED; } @@ -237,8 +238,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_EASY: - /* need local position estimate */ - if (current_state->condition_local_position_valid) { + /* need at minimum local position estimate */ + if (current_state->condition_local_position_valid || + current_state->condition_global_position_valid) { ret = TRANSITION_CHANGED; } |