fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-15 10:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: prevent setting nav_state to takeoff after disarming (#25735)

Browse Source 
* commander: prevent setting nav_state after disarming to takeoff

* wrap in function
This commit is contained in:
Mahima Yoga
2025-10-10 19:59:26 +02:00
committed by GitHub
parent edc7a2bb80
commit 96904636f3
2 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/UserModeIntention.cpp
+2 -1
View File
@@ -77,7 +77,8 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource
// Special case termination state: even though this mode prevents arming,
// still don't switch out of it after disarm and thus store it in _nav_state_after_disarming.
if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)
if ((!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)
&& !isTakeOffIntended(user_intended_nav_state))
|| user_intended_nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
_nav_state_after_disarming = user_intended_nav_state;
}