From 6a701adf3cc6522e584afb91096e8eccf33fd7e6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 29 Dec 2017 09:09:37 +0100 Subject: [PATCH] HITL: Remove hard requirement for airframes --- src/modules/commander/state_machine_helper.cpp | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index a1c542a842..aa4b7d82c2 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -520,23 +520,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta int32_t hitl_on = 0; param_get(param_find("SYS_HITL"), &hitl_on); - int32_t airframe = 0; - param_get(param_find("SYS_AUTOSTART"), &airframe); - - if (!(airframe == 1000 - || airframe == 1001 - || airframe == 4001 - || airframe == 4002 - || airframe == 4010 - || airframe == 4011)) { - mavlink_log_critical(mavlink_log_pub, "Not a supported airframe config for HITL."); - ret = TRANSITION_DENIED; - break; - } - - // Check for compatible airframes - - if (hitl_on) { mavlink_log_info(mavlink_log_pub, "Enabled Hardware-in-the-loop simulation (HITL).");