AMS - Do not reject AMS even in global position is not available. Rel…

…y on failsafes to go down
PX4 · Jan 16, 2019 · d2b6ad4 · d2b6ad4
1 parent 0da56fd
commit d2b6ad4
Showing 1 changed file with 1 addition and 11 deletions.
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
@@ -293,6 +293,7 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
 
 		break;
 
+	case commander_state_s::MAIN_STATE_AUTO_AMS:
 	case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET:
 	case commander_state_s::MAIN_STATE_ORBIT:
 
@@ -314,17 +315,6 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
 
 		break;
 
-	case commander_state_s::MAIN_STATE_AUTO_AMS:
-
-		/* need global position and home position, and AMS is only implemented for multicopters */
-		if (status_flags.condition_global_position_valid &&
-		    status_flags.condition_home_position_valid &&
-		    status.is_rotary_wing) {
-			ret = TRANSITION_CHANGED;
-		}
-
-		break;
-
 	case commander_state_s::MAIN_STATE_AUTO_RTL:
 
 		/* need global position and home position */