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fix commander: handle mode executor correctly on disarm

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There were a number of cases where the state was not correct or not as
desired after disarming, when running an external mode 'MyMission' with
executor:
- run MyMission, which triggers Hold, then Land
  - before: Mode: Hold, executor_in_charge: 1
  - after:  Mode: MyMission, executor_in_charge: 1
- run MyMission, then user switches to RTL
  - before: Mode: MyMission, executor_in_charge: 0
  - after:  Mode: MyMission, executor_in_charge: 1
- run MyMission, then while in Hold mode, low battery failsafe (RTL)
  - before: Mode: Hold, executor_in_charge: 1
  - after:  Mode: MyMission, executor_in_charge: 1
- run MyMission, then stop external mode (terminate the process)
  - before: Mode: (mode not available), executor_in_charge: 0
  - after:  Mode: Hold, executor_in_charge: 0

This case is unchanged:
- run MyMission, then low battery failsafe (RTL)
  - before: Mode: MyMission, executor_in_charge: 1
  - after:  Mode: MyMission, executor_in_charge: 1
This commit is contained in:
Beat Küng
2025-08-19 09:26:58 +02:00
parent a1bc09a6ad
commit df11aa1d69
4 changed files with 34 additions and 1 deletions
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src/modules/commander/UserModeIntention.cpp
+6 -1
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@@ -92,5 +92,10 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource
void UserModeIntention::onDisarm()
{
_user_intented_nav_state = _nav_state_after_disarming;
if (_handler) {
_user_intented_nav_state = _handler->onDisarm(_nav_state_after_disarming);
} else {
_user_intented_nav_state = _nav_state_after_disarming;
}
}