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commander: allow FW manual pos control without global position

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bresch
2024-08-09 12:51:09 +02:00
committed by Mathieu Bresciani
parent 8b12b7c641
commit 3f17f15505
1 changed files with 0 additions and 5 deletions
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src/modules/commander/ModeUtil/mode_requirements.cpp
-5
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@@ -82,11 +82,6 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_local_position_relaxed);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_manual_control);
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_global_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_global_position);
}
// NAVIGATION_STATE_AUTO_MISSION
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_attitude);