allow switching estimators in ready for takeoff state

ctu-mrs · Oct 20, 2023 · 827a7b7 · 827a7b7
1 parent f8873b0
commit 827a7b7
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/estimation_manager/estimation_manager.cpp b/src/estimation_manager/estimation_manager.cpp
@@ -631,7 +631,7 @@ void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent&
 
   /*//}*/
 
-  if (!callbacks_disabled_by_service_ && (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE))) {
+  if (!callbacks_disabled_by_service_ && (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE))) {
     callbacks_enabled_ = true;
   } else {
     callbacks_enabled_ = false;