forked from Archive/PX4-Autopilot
main state auto mission don't require valid mission
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6f89e9d551
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@ -298,7 +298,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
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&status_flags,
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5.0f, /* avionics rail voltage */
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check_gps,
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true, /* can arm without valid mission */
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false, /* valid mission not required*/
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2e6 /* 2 seconds after boot, everything should be checked */
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);
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@ -415,9 +415,9 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
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case commander_state_s::MAIN_STATE_AUTO_MISSION:
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/* need global position, home position, and a valid mission */
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// TODO: require mission? condition_auto_mission_available
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if (status_flags->condition_global_position_valid &&
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status_flags->condition_home_position_valid &&
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status_flags->condition_auto_mission_available) {
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status_flags->condition_home_position_valid) {
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ret = TRANSITION_CHANGED;
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}
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