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commander: hold after mission clear

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This commit is contained in:
Thomas Stastny
2022-11-07 11:03:03 -06:00
parent 815eed2c6d
commit 6dad3a5150
1 changed files with 4 additions and 4 deletions
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src/modules/commander/Commander.cpp
+4 -4
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@@ -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 {