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commander: Ensure RTL can be triggered in all modes

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Lorenz Meier
2015-06-13 00:16:25 +02:00
parent a0176474c7
commit f9f34078d1
1 changed files with 5 additions and 2 deletions
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src/modules/commander/commander.cpp
+5 -2
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@@ -2504,12 +2504,15 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
/* override is not ok for the RTL and recovery mode */
control_mode.flag_external_manual_override_ok = false;
/* fallthrough */
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;