fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-20 22:57:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

preflight check: only change nav_mode once

Browse Source
This commit is contained in:
Balduin
2025-02-19 15:09:34 +01:00
parent dea58db757
commit 10bcc52f13
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+4 -2
View File
@@ -1875,8 +1875,10 @@ void Commander::run()
// COM_PREARM_MODE = 1 (Safety Button) or 2 (Always).
if (_actuator_armed.prearmed) {
if (_param_com_do_cs_check.get()) {
_prev_nav_state = _vehicle_status.nav_state;
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK);
if (_vehicle_status.nav_state != vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK) {
_prev_nav_state = _vehicle_status.nav_state;
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK);
}
} else {
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK) {