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main state auto mission don't require valid mission

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Daniel Agar
2017-04-20 11:18:32 -04:00
parent 6f89e9d551
commit 1913b970d7
2 changed files with 3 additions and 3 deletions
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src/modules/commander/commander_tests/state_machine_helper_test.cpp
+1 -1
View File
@@ -298,7 +298,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
&status_flags, &status_flags,
5.0f, /* avionics rail voltage */ 5.0f, /* avionics rail voltage */
check_gps, check_gps,
true, /* can arm without valid mission */ false, /* valid mission not required*/
2e6 /* 2 seconds after boot, everything should be checked */ 2e6 /* 2 seconds after boot, everything should be checked */
); );
src/modules/commander/state_machine_helper.cpp
+2 -2
View File
@@ -415,9 +415,9 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_MISSION: case commander_state_s::MAIN_STATE_AUTO_MISSION:
/* need global position, home position, and a valid mission */ /* need global position, home position, and a valid mission */
// TODO: require mission? condition_auto_mission_available
if (status_flags->condition_global_position_valid && if (status_flags->condition_global_position_valid &&
status_flags->condition_home_position_valid && status_flags->condition_home_position_valid) {
status_flags->condition_auto_mission_available) {
ret = TRANSITION_CHANGED; ret = TRANSITION_CHANGED;
} }