diff options
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 1be0a16b8..c7256583a 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -377,17 +377,28 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f } else { switch (new_failsafe_state) { case FAILSAFE_STATE_NORMAL: + /* always allowed (except from TERMINATION state) */ ret = TRANSITION_CHANGED; break; case FAILSAFE_STATE_RTL: - if (status->condition_global_position_valid) { + /* global position and home position required for RTL */ + if (status->condition_global_position_valid && status->condition_home_position_valid) { + ret = TRANSITION_CHANGED; + } + + break; + + case FAILSAFE_STATE_LAND: + /* at least relative altitude estimate required for landing */ + if (status->condition_local_altitude_valid || status->condition_global_position_valid) { ret = TRANSITION_CHANGED; } break; case FAILSAFE_STATE_TERMINATION: + /* always allowed */ ret = TRANSITION_CHANGED; break; |