diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-30 10:11:24 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-30 10:11:24 +0200 |
| commit | 3a00def1899223514ea0f9bd6bd567ac11d02f7e (patch) | |
| tree | 8d0d989f4ffad0010fbc7b5fb4736ef8b16b66eb /src/modules/commander/state_machine_helper.cpp | |
| parent | 5146dd8ff80f6cff127fbdac27f4cb92e5954924 (diff) | |
| download | px4-firmware-3a00def1899223514ea0f9bd6bd567ac11d02f7e.tar.gz px4-firmware-3a00def1899223514ea0f9bd6bd567ac11d02f7e.tar.bz2 px4-firmware-3a00def1899223514ea0f9bd6bd567ac11d02f7e.zip | |
commander: switch to AUTO_READY or AUTO_MISSION immediately, don't try to stay on ground
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 23 |
1 files changed, 9 insertions, 14 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 674f3feda..3cef10185 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -348,20 +348,15 @@ navigation_state_transition(struct vehicle_status_s *status, navigation_state_t break; case NAVIGATION_STATE_AUTO_TAKEOFF: - - /* only transitions from AUTO_READY */ - if (status->navigation_state == NAVIGATION_STATE_AUTO_READY) { - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - } - + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_climb_rate_enabled = true; + control_mode->flag_control_manual_enabled = false; + control_mode->flag_control_auto_enabled = true; break; case NAVIGATION_STATE_AUTO_LOITER: |