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FW don't allow ACRO or RATTITUDE

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This commit is contained in:
Daniel Agar
2016-05-27 16:10:03 -04:00
committed by Lorenz Meier
parent e70223c2be
commit 6aa935fed6
2 changed files with 13 additions and 4 deletions
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src/modules/commander/state_machine_helper.cpp
+7 -2
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@@ -348,12 +348,17 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
/* transition may be denied even if the same state is requested because conditions may have changed */
switch (new_main_state) {
case commander_state_s::MAIN_STATE_MANUAL:
case commander_state_s::MAIN_STATE_ACRO:
case commander_state_s::MAIN_STATE_RATTITUDE:
case commander_state_s::MAIN_STATE_STAB:
ret = TRANSITION_CHANGED;
break;
case commander_state_s::MAIN_STATE_ACRO:
case commander_state_s::MAIN_STATE_RATTITUDE:
if (status->is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */
/* TODO: add this for fixedwing as well */