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FlightModeManager: only execute flight task commands when multicopter

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This commit is contained in:
Matthias Grob
2022-06-01 15:14:07 +02:00
parent 96b0304049
commit a9cdfff7a3
1 changed files with 2 additions and 1 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
+2 -1
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@@ -413,7 +413,8 @@ void FlightModeManager::handleCommand()
FlightTaskIndex desired_task = switchVehicleCommand(command.command);
// ignore all unkown commands
if (desired_task != FlightTaskIndex::None) {
if (desired_task != FlightTaskIndex::None
&& _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
// switch to the commanded task
bool switch_succeeded = (switchTask(desired_task) == FlightTaskError::NoError);
uint8_t cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;