From 10bcc52f138f0d93d6fac34437e6c324985855fd Mon Sep 17 00:00:00 2001 From: Balduin Date: Wed, 19 Feb 2025 15:09:34 +0100 Subject: [PATCH] preflight check: only change nav_mode once --- src/modules/commander/Commander.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 2f6686f40b..e82b218d26 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -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) {