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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 11:27:41 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 11:27:41 +0100 |
| commit | 77c6231c8e323d2f7628ee432c9a4e37aa3e6815 (patch) | |
| tree | 6a6b6aec36cf852e6dd17b2c9676d9666f0c21b9 /src/modules/commander | |
| parent | 2923bdf39fd6e424523f0b6b47bef3cabcdc0645 (diff) | |
| parent | 8897894b19e8de4ad7960a0fa552ed12fc2f0200 (diff) | |
| download | px4-firmware-77c6231c8e323d2f7628ee432c9a4e37aa3e6815.tar.gz px4-firmware-77c6231c8e323d2f7628ee432c9a4e37aa3e6815.tar.bz2 px4-firmware-77c6231c8e323d2f7628ee432c9a4e37aa3e6815.zip | |
Merge branch 'beta' into acro2
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 2 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 2 |
2 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 30f75b9fb..afcf236d3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -369,6 +369,7 @@ int arm() if (arming_res == TRANSITION_CHANGED) { mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); return 0; + } else { return 1; } @@ -381,6 +382,7 @@ int disarm() if (arming_res == TRANSITION_CHANGED) { mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); return 0; + } else { return 1; } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index fd966a068..2516d4c68 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -386,6 +386,7 @@ 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; @@ -396,6 +397,7 @@ 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; |