From 71afdb568030ce34accd8176f946c2e866f25318 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Tue, 18 Feb 2025 10:03:54 +0100
Subject: [PATCH] preflight check: restore old nav_state only once

previously it would always change _user_mode_intention to
_prev_nav_state forever. now we change it only if we are in preflight
check mode to not interfere with anything else later.
---
 src/modules/commander/Commander.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 30ee768eb3..dc7f4883d8 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1894,8 +1894,9 @@ void Commander::run()
 			// }
 
 		} else {
-			// leave the mode again somehow...
-			_user_mode_intention.change(_prev_nav_state);
+			if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK) {
+				_user_mode_intention.change(_prev_nav_state);
+			}
 		}
 
 		modeManagementUpdate();