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commander: POSCTL optical flow aiding continue updating GPOS validity

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- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
 - condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
This commit is contained in:
Daniel Agar
2020-12-11 15:33:50 -05:00
parent 6bda8af97c
commit ae2b1a265c
2 changed files with 23 additions and 24 deletions
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src/modules/commander/Commander.hpp
-2
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@@ -347,8 +347,6 @@ private:
hrt_abstime _last_print_mode_reject_time{0}; ///< To remember when last notification was sent
float _eph_threshold_adj{INFINITY}; ///< maximum allowable horizontal position uncertainty after adjustment for flight condition
bool _skip_pos_accuracy_check{false};
bool _last_condition_local_altitude_valid{false};
bool _last_condition_local_position_valid{false};
bool _last_condition_global_position_valid{false};