From 2f69f3fc2e1619f5864b212028f0c122b23ddee3 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Mon, 11 Nov 2024 10:34:15 +0300 Subject: [PATCH] mode_requirements: require only relaxed local position for auto land, in order to enable auto land with optical flow Signed-off-by: RomanBapst --- src/modules/commander/ModeUtil/mode_requirements.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp index 6b72a323d0..555b564d97 100644 --- a/src/modules/commander/ModeUtil/mode_requirements.cpp +++ b/src/modules/commander/ModeUtil/mode_requirements.cpp @@ -140,7 +140,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags) setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_angular_velocity); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_attitude); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_alt); - setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_position); + setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_position_relaxed); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_prevent_arming); // NAVIGATION_STATE_AUTO_FOLLOW_TARGET