From c3c1968837fcabf5d66cb0f510c9d99233e97f15 Mon Sep 17 00:00:00 2001 From: Balduin Date: Thu, 24 Jul 2025 09:16:26 +0200 Subject: [PATCH] Require fully valid local pos for AUTO_LAND again FlightTaskAuto does not properly support the case of invalid but !invalid_relaxed local position yet. This reverts the mode requirements to valid local position again, until we support it in FlightTaskAuto or a separate FlightTask for this specific case. This reverts commit 2f69f3fc2e1619f5864b212028f0c122b23ddee3, PR #23917. --- src/modules/commander/ModeUtil/mode_requirements.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp index 9e64c529f2..9b60cd9bb4 100644 --- a/src/modules/commander/ModeUtil/mode_requirements.cpp +++ b/src/modules/commander/ModeUtil/mode_requirements.cpp @@ -169,7 +169,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags) setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_angular_velocity); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_attitude); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_alt); - setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_position_relaxed); + setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_position); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_prevent_arming); // NAVIGATION_STATE_AUTO_FOLLOW_TARGET