diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 43d0e023e..e5d77b246 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -382,6 +382,7 @@ 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; @@ -392,6 +393,7 @@ 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; |