From 0a9734309139a097601923c7a4f8b8414faa9240 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 1 Jun 2023 14:37:20 +0200 Subject: [PATCH] Mission_block: only accept VTOL backtransition once in full MC mode Signed-off-by: Silvan Fuhrer --- src/modules/navigator/mission_block.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 565b2f2150..22f41ddba6 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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