From 5cf85e320a7ee4b53b78b5fbe98b688068d5bce0 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 4 Dec 2024 17:51:53 +0100 Subject: [PATCH] offboardCheck: acceleration setpoints only require vehicle attitude control --- .../commander/HealthAndArmingChecks/checks/offboardCheck.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp index c2e2fb15988b..331b12b27282 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp @@ -56,7 +56,7 @@ void OffboardChecks::checkAndReport(const Context &context, Report &reporter) } else if (offboard_control_mode.velocity && reporter.failsafeFlags().local_velocity_invalid) { offboard_available = false; - } else if (offboard_control_mode.acceleration && reporter.failsafeFlags().local_velocity_invalid) { + } else if (offboard_control_mode.acceleration && reporter.failsafeFlags().attitude_invalid) { // OFFBOARD acceleration handled by position controller offboard_available = false; }