From ad1d9e13128b433a0d7909050b2fec590951c4f7 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 16 Aug 2024 14:05:06 +0200 Subject: [PATCH] failsafe: do not add additional hold delay if failsafe action is hold --- src/modules/commander/failsafe/framework.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp index 1eddc8a7f8..729205ebe8 100644 --- a/src/modules/commander/failsafe/framework.cpp +++ b/src/modules/commander/failsafe/framework.cpp @@ -477,7 +477,7 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s // Check if we should enter delayed Hold if (_current_delay > 0 && !_user_takeover_active && allow_user_takeover <= UserTakeoverAllowed::AlwaysModeSwitchOnly - && selected_action != Action::Disarm && selected_action != Action::Terminate) { + && selected_action != Action::Disarm && selected_action != Action::Terminate && selected_action != Action::Hold) { returned_state.delayed_action = selected_action; selected_action = Action::Hold; allow_user_takeover = UserTakeoverAllowed::AlwaysModeSwitchOnly;