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Mission_block: only accept VTOL backtransition once in full MC mode

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-06-01 14:52:29 +02:00
parent ebe152fc22
commit 0a97343091
1 changed files with 3 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+3 -1
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@@ -110,7 +110,9 @@ MissionBlock::is_mission_item_reached_or_completed()
if (int(_mission_item.params[0]) == 3) {
// transition to RW requested, only accept waypoint if vehicle state has changed accordingly
return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
const bool in_pure_mc_mode = _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
!_navigator->get_vstatus()->in_transition_mode;
return in_pure_mc_mode;
} else if (int(_mission_item.params[0]) == 4) {
// transition to FW requested, only accept waypoint if vehicle state has changed accordingly