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Handle rc toggle mode buttons to initialize flight modes

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2021-08-16 11:19:20 +02:00
committed by Matthias Grob
parent c50daae4a3
commit 05d40f40d4
3 changed files with 12 additions and 3 deletions
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src/modules/commander/Commander.cpp
+1 -1
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@@ -2428,7 +2428,7 @@ Commander::run()
}
}
if (!_armed.armed && _manual_control.isMavlink() && (_internal_state.main_state_changes == 0)) {
if (!_armed.armed && _manual_control.isModeInitializationRequired() && (_internal_state.main_state_changes == 0)) {
// if there's never been a mode change force position control as initial state
_internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
}