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Commander: for Takeoff and VTOL_Takeoff only req relaxed position if FW

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-06-26 13:52:38 +02:00
parent 5b68537baf
commit d40b201dfe
1 changed files with 14 additions and 2 deletions
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src/modules/commander/ModeUtil/mode_requirements.cpp
+14 -2
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@@ -158,9 +158,15 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
// NAVIGATION_STATE_AUTO_TAKEOFF
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_alt);
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position_relaxed);
} else {
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position);
}
// NAVIGATION_STATE_AUTO_LAND
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);
@@ -194,9 +200,15 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
// NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_alt);
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position_relaxed);
} else {
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position);
}
// NAVIGATION_STATE_EXTERNALx: handled outside
static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update mode requirements");