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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-05 08:15:32 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-05 08:15:32 +0100 |
| commit | 7861d5e0e534cd85718ba10d61dd0e923ee414e9 (patch) | |
| tree | edadf19b42221aa4ac2360b99b296886d9df0afa /src/modules/commander/state_machine_helper.cpp | |
| parent | 5828f49c60138497b5fba4266133a0caea745d72 (diff) | |
| parent | 4499919f76376f5f9904d672ad5fd85e465badac (diff) | |
| download | px4-firmware-7861d5e0e534cd85718ba10d61dd0e923ee414e9.tar.gz px4-firmware-7861d5e0e534cd85718ba10d61dd0e923ee414e9.tar.bz2 px4-firmware-7861d5e0e534cd85718ba10d61dd0e923ee414e9.zip | |
Merge branch 'beta' into offboard2
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 23d3be55d..f4f1c10a3 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -394,6 +394,7 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f break; case FAILSAFE_STATE_RTL: + /* global position and home position required for RTL */ if (status->condition_global_position_valid && status->condition_home_position_valid) { status->set_nav_state = NAV_STATE_RTL; @@ -404,6 +405,7 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f break; case FAILSAFE_STATE_LAND: + /* at least relative altitude estimate required for landing */ if (status->condition_local_altitude_valid || status->condition_global_position_valid) { status->set_nav_state = NAV_STATE_LAND; |