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Mission block: only accept transition WP as accepted once no longer in transition mode

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-01-11 17:36:53 +01:00
parent 8a01135a93
commit 5698e49bc5
1 changed files with 2 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+2 -1
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@@ -114,7 +114,8 @@ MissionBlock::is_mission_item_reached()
if (int(_mission_item.params[0]) == 3) {
// transition to RW requested, only accept waypoint if vehicle state has changed accordingly
return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
return !_navigator->get_vstatus()->in_transition_mode
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
} else if (int(_mission_item.params[0]) == 4) {
// transition to FW requested, only accept waypoint if vehicle state has changed accordingly