diff options
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 10 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 14 |
2 files changed, 13 insertions, 11 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 7d759b8d2..8ce31550f 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -228,8 +228,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_SEATBELT: - /* need altitude estimate */ - if (current_state->condition_local_altitude_valid) { + /* need at minimum altitude estimate */ + if (current_state->condition_local_altitude_valid || + current_state->condition_global_position_valid) { ret = TRANSITION_CHANGED; } @@ -237,8 +238,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_EASY: - /* need local position estimate */ - if (current_state->condition_local_position_valid) { + /* need at minimum local position estimate */ + if (current_state->condition_local_position_valid || + current_state->condition_global_position_valid) { ret = TRANSITION_CHANGED; } diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index 0fc0ed5c9..143734e37 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -62,17 +62,17 @@ struct vehicle_global_position_s { uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ - bool valid; /**< true if position satisfies validity criteria of estimator */ + uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ + bool valid; /**< true if position satisfies validity criteria of estimator */ int32_t lat; /**< Latitude in 1E7 degrees */ int32_t lon; /**< Longitude in 1E7 degrees */ - float alt; /**< Altitude in meters */ + float alt; /**< Altitude in meters */ float relative_alt; /**< Altitude above home position in meters, */ - float vx; /**< Ground X velocity, m/s in NED */ - float vy; /**< Ground Y velocity, m/s in NED */ - float vz; /**< Ground Z velocity, m/s in NED */ - float yaw; /**< Compass heading in radians -PI..+PI. */ + float vx; /**< Ground X velocity, m/s in NED */ + float vy; /**< Ground Y velocity, m/s in NED */ + float vz; /**< Ground Z velocity, m/s in NED */ + float yaw; /**< Compass heading in radians -PI..+PI. */ }; /** |