From 5698e49bc5bedc860124377ea602759a0e5438fd Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 11 Jan 2022 17:36:53 +0100 Subject: [PATCH] Mission block: only accept transition WP as accepted once no longer in transition mode Signed-off-by: Silvan Fuhrer --- src/modules/navigator/mission_block.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 2ba4e854d5..8a08f6ca99 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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