From fbddf9655b83775f3a4264cb404a7e94bb2864a5 Mon Sep 17 00:00:00 2001 From: mahima-yoga Date: Wed, 2 Jul 2025 11:14:14 +0200 Subject: [PATCH] (fix) mavlink_mission: keep mission active when vehicle disarms mid-mission. --- src/modules/mavlink/mavlink_mission.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 78f8580b0d..dd129a83b1 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -1945,15 +1945,14 @@ MavlinkMissionManager::update_mission_state() // Mission is complete if the navigator says it's finished _mission_state = MISSION_STATE_COMPLETE; - } else if (_mission_mode == MISSION_MODE_ACTIVE - && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + } else if (_mission_mode == MISSION_MODE_ACTIVE) { _mission_state = MISSION_STATE_ACTIVE; } else if (_mission_mode == MISSION_MODE_SUSPENDED && mission_result.seq_reached >= 0) { // Only PAUSED if we were actually in the middle of a mission _mission_state = MISSION_STATE_PAUSED; - } else { + } else if (mission_result.seq_reached < 0 && mission_result.seq_current < 1) { _mission_state = MISSION_STATE_NOT_STARTED; } }