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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-08 16:45:22 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-08 16:45:22 +0100 |
| commit | 668f9dc552040b77d298330ff2dc1dcccdb5b3da (patch) | |
| tree | b5f16c4f2f9e1626ab4330f9b848d6a50c836ae1 /src | |
| parent | 84fa1490de98b6984cae0ae72d9be27628ceb734 (diff) | |
| download | px4-firmware-668f9dc552040b77d298330ff2dc1dcccdb5b3da.tar.gz px4-firmware-668f9dc552040b77d298330ff2dc1dcccdb5b3da.tar.bz2 px4-firmware-668f9dc552040b77d298330ff2dc1dcccdb5b3da.zip | |
enable seatbelt without position lock for non rotary wing vehicles
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 490fc8fc6..a50af7daf 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -239,8 +239,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_SEATBELT: /* need at minimum altitude estimate */ - if (current_state->condition_local_altitude_valid || - current_state->condition_global_position_valid) { + if (!current_state->is_rotary_wing || + (current_state->condition_local_altitude_valid || + current_state->condition_global_position_valid)) { ret = TRANSITION_CHANGED; } |