From d0b188f585e08d1f391d7360b640c6194f3e1acf Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 7 Feb 2017 23:22:24 -0500 Subject: [PATCH] commander FW don't allow FOLLOW or OFFBOARD --- src/modules/commander/state_machine_helper.cpp | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 6479b801d6..5824754f52 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -383,6 +383,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta case commander_state_s::MAIN_STATE_ACRO: case commander_state_s::MAIN_STATE_RATTITUDE: + + /* ACRO and RATTITUDE only implemented in MC */ if (status->is_rotary_wing) { ret = TRANSITION_CHANGED; } @@ -419,6 +421,14 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta break; case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET: + + /* FOLLOW only implemented in MC */ + if (status->is_rotary_wing) { + ret = TRANSITION_CHANGED; + } + + break; + case commander_state_s::MAIN_STATE_AUTO_MISSION: case commander_state_s::MAIN_STATE_AUTO_RTL: case commander_state_s::MAIN_STATE_AUTO_TAKEOFF: @@ -433,8 +443,12 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta case commander_state_s::MAIN_STATE_OFFBOARD: - /* need offboard signal */ - if (!status_flags->offboard_control_signal_lost) { + /* need offboard signal + * OFFBOARD only implemented in MC + */ + if (!status_flags->offboard_control_signal_lost + && status->is_rotary_wing) { + ret = TRANSITION_CHANGED; }