From 668f9dc552040b77d298330ff2dc1dcccdb5b3da Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 8 Nov 2013 16:45:22 +0100 Subject: enable seatbelt without position lock for non rotary wing vehicles --- src/modules/commander/state_machine_helper.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'src') 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; } -- cgit v1.2.3