From a91fa7f3c1311f9cd6427472c697db6a9298f5b2 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 6 May 2021 13:13:39 +0200 Subject: [PATCH] commander: only move to POSCTL when armed I don't think we want to switch to POSCTL when the sticks are moved when armed. --- src/modules/commander/Commander.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index f515ac1060..e593dad55d 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2384,9 +2384,11 @@ Commander::run() _status.rc_signal_lost = false; - // abort autonomous mode and switch to position mode if sticks are moved significantly + // Abort autonomous mode and switch to position mode if sticks are moved significantly + // but only if actually in air. if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) && !in_low_battery_failsafe && !_geofence_warning_action_on + && _armed.armed && _manual_control.wantsOverride(_vehicle_control_mode, _status)) { const transition_result_t posctl_result = main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);