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mode_requirements: add manual control for manual modes

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Matthias Grob
2023-03-08 09:32:56 +01:00
committed by Beat Küng
parent 636dfdec6a
commit f498b90c41
4 changed files with 23 additions and 0 deletions
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src/modules/commander/failsafe/framework.cpp
+1
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@@ -656,6 +656,7 @@ bool FailsafeBase::modeCanRun(const failsafe_flags_s &status_flags, uint8_t mode
(!status_flags.auto_mission_missing || ((status_flags.mode_req_mission & mode_mask) == 0)) &&
(!status_flags.offboard_control_signal_lost || ((status_flags.mode_req_offboard_signal & mode_mask) == 0)) &&
(!status_flags.home_position_invalid || ((status_flags.mode_req_home_position & mode_mask) == 0)) &&
(!status_flags.manual_control_signal_lost || ((status_flags.mode_req_manual_control & mode_mask) == 0)) &&
((status_flags.mode_req_other & mode_mask) == 0);
}