From a9cdfff7a303367b22edb5036f29c5d6dc5a4d40 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 30 May 2022 16:10:26 +0200 Subject: [PATCH] FlightModeManager: only execute flight task commands when multicopter --- src/modules/flight_mode_manager/FlightModeManager.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp index b57e571c65..a2c33b0997 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.cpp +++ b/src/modules/flight_mode_manager/FlightModeManager.cpp @@ -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;