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preflight check: restore prev nav state

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This commit is contained in:
Balduin
2025-02-14 13:37:31 +01:00
parent 64d18f0a64
commit 7816fd14b7
2 changed files with 13 additions and 5 deletions
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src/modules/commander/Commander.cpp
+11 -5
View File
@@ -1879,18 +1879,24 @@ void Commander::run()
// this nice pattern stolen from handle_command
// if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK, ModeChangeSource::ModeExecutor, false)) {
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK)) {
_prev_nav_state = _vehicle_status.nav_state;
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK);
// no error handling like this for now
// if (ret) {
// return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
// PX4_INFO("mode intention changed");
} else {
// } else {
// printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
// return vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
// PX4_INFO("mode intention not changed");
}
} // else {
// }
} else {
// leave the mode again somehow...
// }
_user_mode_intention.change(_prev_nav_state);
}
modeManagementUpdate();
src/modules/commander/Commander.hpp
+2
View File
@@ -286,6 +286,8 @@ private:
vehicle_land_detected_s _vehicle_land_detected{};
uint8_t _prev_nav_state;
// commander publications
actuator_armed_s _actuator_armed{};
vehicle_control_mode_s _vehicle_control_mode{};