diff options
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 16 |
1 files changed, 2 insertions, 14 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 8b9e7c49c..4e2b4907b 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1319,7 +1319,7 @@ int commander_thread_main(int argc, char *argv[]) /* make sure we are in preflight state */ memset(¤t_status, 0, sizeof(current_status)); - current_status.navigation_state = NAVIGATION_STATE_STANDBY; + current_status.navigation_state = NAVIGATION_STATE_INIT; current_status.arming_state = ARMING_STATE_INIT; current_status.hil_state = HIL_STATE_OFF; current_status.flag_system_armed = false; @@ -1857,19 +1857,7 @@ int commander_thread_main(int argc, char *argv[]) } /* Now it's time to handle the stick inputs */ - - if (current_status.arming_state == ARMING_STATE_ARMED) { - - if (current_status.mode_switch == MODE_SWITCH_MANUAL) { - do_navigation_state_update(stat_pub, ¤t_status, mavlink_fd, NAVIGATION_STATE_MANUAL ); - } else if (current_status.mode_switch == MODE_SWITCH_SEATBELT) { - do_navigation_state_update(stat_pub, ¤t_status, mavlink_fd, NAVIGATION_STATE_SEATBELT ); - } else if (current_status.mode_switch == MODE_SWITCH_AUTO) { - if (current_status.navigation_state == NAVIGATION_STATE_MANUAL) { - do_navigation_state_update(stat_pub, ¤t_status, mavlink_fd, NAVIGATION_STATE_MISSION ); - } - } - } + navigation_state_update(stat_pub, ¤t_status, mavlink_fd); /* handle the case where RC signal was regained */ if (!current_status.rc_signal_found_once) { |