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Do not run transition flight task when not enable altitude control

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xdwgood
2020-10-30 09:04:23 +08:00
committed by Lorenz Meier
parent bf330a51b2
commit 802c68a62e
3 changed files with 2 additions and 7 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
+2 -1
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@@ -171,7 +171,8 @@ void FlightModeManager::start_flight_task()
_flight_tasks.switchTask(FlightTaskIndex::None);
}
if (_vehicle_status_sub.get().in_transition_mode) {
// Only run transition flight task if altitude control is enabled (e.g. in Altitdue, Position, Auto flight mode)
if (_vehicle_status_sub.get().in_transition_mode && _vehicle_control_mode_sub.get().flag_control_altitude_enabled) {
should_disable_task = false;
FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::Transition);