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Commander: on completion of takeoff, force state transition to Loiter

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2025-06-04 17:03:30 +02:00
committed by Silvan
parent 35096d3278
commit 76b3257276
1 changed files with 3 additions and 1 deletions
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src/modules/commander/Commander.cpp
+3 -1
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@@ -2011,7 +2011,9 @@ void Commander::checkForMissionUpdate()
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION);
} else {
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
// Transition to loiter when the takeoff is completed (force into the Loiter, if mode is not executable then failsafe).
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, ModeChangeSource::ModeExecutor, false,
true);
}
} else if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {