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FlightModeManager: Add task for position slow mode

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This commit is contained in:
Matthias Grob
2023-12-08 21:17:59 +01:00
parent ef0926d64b
commit 54ce9813c8
8 changed files with 440 additions and 0 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
+7
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@@ -196,6 +196,13 @@ void FlightModeManager::start_flight_task()
}
}
// position slow mode
if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW) {
found_some_task = true;
FlightTaskError error = switchTask(FlightTaskIndex::ManualAccelerationSlow);
task_failure = error != FlightTaskError::NoError;
}
// Manual position control
if ((_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL) || task_failure) {
found_some_task = true;