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fix commander: set failsafe action state immediately after failsafe update

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There was a race condition: for example when an external mode disabled
failsafe deferring, that then triggered a failsafe, while the mode executor
immediately sends a command (to e.g. switch modes).
In that case the failsafe got triggered but the mode switch was still
allowed.
This was because of the processing ordering:
- mode updates (and propagating the failsafe_action_active state)
- failsafe updates
- command handling

This patch makes sure failsafe_action_active is set immediately after
updating the failsafes.
This commit is contained in:
Beat Küng
2025-07-09 15:47:45 +02:00
committed by Silvan Fuhrer
parent 168d99cd18
commit f0ecd9e757
3 changed files with 10 additions and 6 deletions
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src/modules/commander/ModeManagement.cpp
+1 -3
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@@ -364,10 +364,8 @@ void ModeManagement::checkUnregistrations(uint8_t user_intended_nav_state, Updat
}
}
void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, bool failsafe_action_active,
UpdateRequest &update_request)
void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, UpdateRequest &update_request)
{
_failsafe_action_active = failsafe_action_active;
_external_checks.update();
bool allow_update_while_armed = _external_checks.allowUpdateWhileArmed();