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FW Position Control: only prevent automatic aborts if already flaring, but allow manual aborts

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-11-03 09:26:35 +01:00 committed by Daniel Agar
parent 94d44c40a7
commit 49c363674a
1 changed files with 2 additions and 1 deletions
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3
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -617,7 +617,8 @@ FixedwingPositionControl::landing_status_publish()
void
FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_status)
{
if (!_flare_states.flaring) {
// prevent automatic aborts if already flaring, but allow manual aborts
if (!_flare_states.flaring || new_abort_status == position_controller_landing_status_s::ABORTED_BY_OPERATOR) {
// only announce changes
if (new_abort_status > 0 && _landing_abort_status != new_abort_status) {