From 46f76cb621e8e244c20f8b9f50edb1eff6c7f34f Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 24 Feb 2020 13:47:08 +0100 Subject: [PATCH] Commander: enable RC override in takeoff and remaining auto modes which are used more rarely. --- src/modules/commander/Commander.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 24849ca906..476f88c482 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1749,10 +1749,13 @@ Commander::run() const bool override_auto_mode = (_param_rc_override.get() & OVERRIDE_AUTO_MODE_BIT) && - (_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || + (_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_TAKEOFF || + _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL || _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION || - _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER); + _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER || + _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET || + _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND); const bool override_offboard_mode = (_param_rc_override.get() & OVERRIDE_OFFBOARD_MODE_BIT) &&