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commander: add missing manual modes

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We prevent arming when in a "manual" mode with throttle high. However,
POSCTL and ALTCTL were missing.
This commit is contained in:
Julian Oes 2019-10-29 08:54:40 +01:00
parent 300bc0a332
commit 283a57054a
1 changed files with 3 additions and 1 deletions
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4
src/modules/commander/Commander.cpp
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@ -839,7 +839,9 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
// Refuse to arm if in manual with non-zero throttle
if (cmd_arms
&& (status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
&& (status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE)