commander: require local position for home #7958
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This fixes (or at least works around) a race condition where the `status_flags.condition_local_position_valid` is still `false` but the `status_flags.condition_global_position_valid` is already `true`. The way to reproduce it is t: 1. Poll home position to check if home is initialized 2. Send arm and takeoff command as soon as home is initialized Then arming will succeed but takeoff will fail because there is a check for `status_flags.condition_local_position_valid` in `main_state_transition()` to enter TAKEOFF.
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approved these changes
Sep 13, 2017
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This fixes (or at least works around) a race condition where the
status_flags.condition_local_position_validis stillfalsebut thestatus_flags.condition_global_position_validis alreadytrue.The way to reproduce it is t:
Then arming will succeed but takeoff will fail because there is a check
for
status_flags.condition_local_position_validinmain_state_transition()to enter TAKEOFF.Tested in SITL using DroneCore takeoff and land example.
The error case was found by @hamishwillee.