From 52563264e64e77a003fe26982bf3f1ba73a5da28 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 6 May 2021 14:32:45 +0200 Subject: [PATCH] commander: move valid mission check inside I think it makes more sense to move this check inside of main_state_transition. --- src/modules/commander/Commander.cpp | 8 +------- src/modules/commander/state_machine_helper.cpp | 8 ++++++-- 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index e593dad55d..78f5050d98 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -813,13 +813,7 @@ Commander::handle_command(const vehicle_command_s &cmd) break; case PX4_CUSTOM_SUB_MODE_AUTO_MISSION: - if (_status_flags.condition_auto_mission_available) { - desired_main_state = commander_state_s::MAIN_STATE_AUTO_MISSION; - - } else { - main_ret = TRANSITION_DENIED; - } - + desired_main_state = commander_state_s::MAIN_STATE_AUTO_MISSION; break; case PX4_CUSTOM_SUB_MODE_AUTO_RTL: diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 10174b823a..3284f86646 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -368,9 +368,13 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai case commander_state_s::MAIN_STATE_AUTO_MISSION: + if (!status_flags.condition_auto_mission_available) { + ret = TRANSITION_DENIED; + } + /* need global position, home position, and a valid mission */ - if (status_flags.condition_global_position_valid && - status_flags.condition_auto_mission_available) { + else if (status_flags.condition_global_position_valid && + status_flags.condition_auto_mission_available) { ret = TRANSITION_CHANGED; }