From 3f5b46a68cc5f176a4985ee13289499bac0196e8 Mon Sep 17 00:00:00 2001 From: Silvan Date: Thu, 26 Jun 2025 13:52:38 +0200 Subject: [PATCH] Commander: for VTOL_Takeoff only req relaxed position if fixed-wing phase When in the fixed-wing phase of the VTOL Takeoff we do not want to failsafe due to position inaccuracy. Signed-off-by: Silvan --- src/modules/commander/ModeUtil/mode_requirements.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp index 5c6fa30295b..de13d4155b1 100644 --- a/src/modules/commander/ModeUtil/mode_requirements.cpp +++ b/src/modules/commander/ModeUtil/mode_requirements.cpp @@ -194,9 +194,15 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags) // NAVIGATION_STATE_AUTO_VTOL_TAKEOFF setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_angular_velocity); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_attitude); - setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position); setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_alt); + if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position_relaxed); + + } else { + setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position); + } + // NAVIGATION_STATE_EXTERNALx: handled outside static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update mode requirements");