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vtol main: only guard against transition to FW in certain flight modes, never to MC

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-06-25 16:40:34 +02:00
parent 5ebe41efbf
commit 342e9900f8
1 changed files with 6 additions and 5 deletions
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11
src/modules/vtol_att_control/vtol_att_control_main.cpp
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@ -150,11 +150,12 @@ void VtolAttitudeControl::vehicle_cmd_poll()
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
// deny any transition in auto takeoff mode, plus transition from RW to FW in land or RTL mode
if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
|| (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL))) {
// deny transition from MC to FW in Takeoff, Land, RTL and Orbit
if (int(vehicle_command.param1 + 0.5f) == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW &&
(vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ORBIT)) {
result = vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;