From 3f17f155058e264d75b9e1184417c4b1d5856a9c Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 31 Jul 2024 15:17:52 +0200 Subject: [PATCH] commander: allow FW manual pos control without global position --- src/modules/commander/ModeUtil/mode_requirements.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp index 0718804df2..32eb5b1e81 100644 --- a/src/modules/commander/ModeUtil/mode_requirements.cpp +++ b/src/modules/commander/ModeUtil/mode_requirements.cpp @@ -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);