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commander: move estimator checks to arming check

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This commit is contained in:
Beat Küng
2022-09-01 17:07:23 -04:00
committed by Daniel Agar
parent cfe3d793bf
commit f17f38197d
9 changed files with 428 additions and 359 deletions
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src/modules/commander/ModeUtil/mode_requirements.cpp
+2 -1
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@@ -45,6 +45,7 @@ void getModeRequirements(uint8_t vehicle_type, vehicle_status_flags_s &flags)
flags.mode_req_angular_velocity = 0;
flags.mode_req_attitude = 0;
flags.mode_req_local_position = 0;
flags.mode_req_local_position_relaxed = 0;
flags.mode_req_global_position = 0;
flags.mode_req_local_alt = 0;
flags.mode_req_mission = 0;
@@ -63,7 +64,7 @@ void getModeRequirements(uint8_t vehicle_type, vehicle_status_flags_s &flags)
// NAVIGATION_STATE_POSCTL
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_position_relaxed);
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_global_position);