From 49c363674a02df1ca1ca61b9c94fe1ad7f1d4bde Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 3 Nov 2022 09:26:35 +0100 Subject: [PATCH] FW Position Control: only prevent automatic aborts if already flaring, but allow manual aborts Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 1d21f4d587..ecf7adae28 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -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) {