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fix commander: need to check for valid mode change even if already the same

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Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
  -> need to re-evaluate can_run
This commit is contained in:
Beat Küng
2023-02-01 08:48:09 +01:00
committed by Silvan Fuhrer
parent 7988491e37
commit 8e4c5884ec
1 changed files with 1 additions and 5 deletions
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src/modules/commander/UserModeIntention.cpp
+1 -5
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@@ -43,11 +43,6 @@ UserModeIntention::UserModeIntention(ModuleParams *parent, const vehicle_status_
bool UserModeIntention::change(uint8_t user_intended_nav_state, bool allow_fallback, bool force) bool UserModeIntention::change(uint8_t user_intended_nav_state, bool allow_fallback, bool force)
{ {
_ever_had_mode_change = true; _ever_had_mode_change = true;
_had_mode_change = true;
if (_user_intented_nav_state == user_intended_nav_state) {
return true;
}
// Always allow mode change while disarmed // Always allow mode change while disarmed
bool always_allow = force || !isArmed(); bool always_allow = force || !isArmed();
@@ -67,6 +62,7 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, bool allow_fallb
} }
if (allow_change) { if (allow_change) {
_had_mode_change = true;
_user_intented_nav_state = user_intended_nav_state; _user_intented_nav_state = user_intended_nav_state;
if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)) { if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)) {