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FW mode manager/Commander: hanlde invlaid pos in FW manager

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-06-16 11:53:20 +02:00
parent b1af09d391
commit e9e5c45bf3
4 changed files with 152 additions and 8 deletions
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src/modules/commander/ModeUtil/mode_requirements.cpp
+5 -1
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@@ -158,9 +158,13 @@ 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_ROTARY_WING) {
// only require local position for rotary wing vehicles, fixed wing vehicles can take off without it
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);