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offboardCheck: acceleration setpoints only require vehicle attitude control

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Matthias Grob
2024-12-19 17:58:38 +01:00
parent ad799b64b7
commit 5cf85e320a
1 changed files with 1 additions and 1 deletions
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src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp
+1 -1
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@@ -56,7 +56,7 @@ void OffboardChecks::checkAndReport(const Context &context, Report &reporter)
} else if (offboard_control_mode.velocity && reporter.failsafeFlags().local_velocity_invalid) { } else if (offboard_control_mode.velocity && reporter.failsafeFlags().local_velocity_invalid) {
offboard_available = false; offboard_available = false;
} else if (offboard_control_mode.acceleration && reporter.failsafeFlags().local_velocity_invalid) { } else if (offboard_control_mode.acceleration && reporter.failsafeFlags().attitude_invalid) {
// OFFBOARD acceleration handled by position controller // OFFBOARD acceleration handled by position controller
offboard_available = false; offboard_available = false;
} }