From b6af068f25011bdb6b22b19475d2167ec82df6d2 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 6 May 2021 14:34:41 +0200 Subject: [PATCH] commander: always reset posvel validity I assume reseting posvel validity is ok for any case, not just all cases except manual, acro, stabilized. --- src/modules/commander/Commander.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 78f5050d98..4be4e55bcd 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -800,12 +800,10 @@ Commander::handle_command(const vehicle_command_s &cmd) desired_main_state = commander_state_s::MAIN_STATE_ALTCTL; } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) { - reset_posvel_validity(); desired_main_state = commander_state_s::MAIN_STATE_POSCTL; } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { if (custom_sub_mode > 0) { - reset_posvel_validity(); switch (custom_sub_mode) { case PX4_CUSTOM_SUB_MODE_AUTO_LOITER: @@ -855,7 +853,6 @@ Commander::handle_command(const vehicle_command_s &cmd) desired_main_state = commander_state_s::MAIN_STATE_STAB; } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) { - reset_posvel_validity(); desired_main_state = commander_state_s::MAIN_STATE_OFFBOARD; } @@ -878,6 +875,9 @@ Commander::handle_command(const vehicle_command_s &cmd) } if (desired_main_state != commander_state_s::MAIN_STATE_MAX) { + + reset_posvel_validity(); + main_ret = main_state_transition(_status, desired_main_state, _status_flags, _internal_state); }