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commander: always reset posvel validity 

I assume reseting posvel validity is ok for any case, not just all cases
except manual, acro, stabilized.
This commit is contained in:
Julian Oes 2021-05-06 14:34:41 +02:00 committed by Matthias Grob
parent 52563264e6
commit b6af068f25
1 changed files with 3 additions and 3 deletions
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6
src/modules/commander/Commander.cpp
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@ -800,12 +800,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
desired_main_state = commander_state_s::MAIN_STATE_ALTCTL;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
reset_posvel_validity();
desired_main_state = commander_state_s::MAIN_STATE_POSCTL;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
if (custom_sub_mode > 0) {
reset_posvel_validity();
switch (custom_sub_mode) {
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
@ -855,7 +853,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
desired_main_state = commander_state_s::MAIN_STATE_STAB;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
reset_posvel_validity();
desired_main_state = commander_state_s::MAIN_STATE_OFFBOARD;
}
@ -878,6 +875,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
if (desired_main_state != commander_state_s::MAIN_STATE_MAX) {
reset_posvel_validity();
main_ret = main_state_transition(_status, desired_main_state, _status_flags, _internal_state);
}