fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-14 16:01:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightModeManager: avoid internal flight task running concurrently with external mode

Browse Source
This commit is contained in:
Matthias Grob
2023-11-08 10:21:28 +01:00
committed by Beat Küng
parent 8eefe05767
commit 3df333378a
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/flight_mode_manager/FlightModeManager.cpp
+3 -1
View File
@@ -137,7 +137,9 @@ void FlightModeManager::updateParams()
void FlightModeManager::start_flight_task() void FlightModeManager::start_flight_task()
{ {
// Do not run any flight task for VTOLs in fixed-wing mode // Do not run any flight task for VTOLs in fixed-wing mode
if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { if ((_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)
|| ((_vehicle_status_sub.get().nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1)
&& (_vehicle_status_sub.get().nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8))) {
switchTask(FlightTaskIndex::None); switchTask(FlightTaskIndex::None);
return; return;
} }