From 6dad3a5150c5082c5bdfda5b4d247601b0f01806 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Mon, 7 Nov 2022 11:03:03 -0600 Subject: [PATCH] commander: hold after mission clear --- src/modules/commander/Commander.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index f53a72983a..24ee73913b 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1862,14 +1862,14 @@ void Commander::checkForMissionUpdate() } } - // Transition mode to loiter or auto-mission after takeoff is completed. + // handle navigation state auto-switching based on mission_result if (_arm_state_machine.isArmed() && !_vehicle_land_detected.landed - && (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF || - _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) && (mission_result.timestamp >= _vehicle_status.nav_state_timestamp) && mission_result.finished) { - if ((_param_takeoff_finished_action.get() == 1) && auto_mission_available) { + if ((_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF + || _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) + && (_param_takeoff_finished_action.get() == 1) && auto_mission_available) { _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION); } else {