Mission_block: only accept VTOL backtransition once in full MC mode

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-07-21 21:50:35 +08:00 · 2023-06-01 14:52:29 +02:00
1 changed files with 3 additions and 1 deletions
@@ -110,7 +110,9 @@ MissionBlock::is_mission_item_reached_or_completed()

 		if (int(_mission_item.params[0]) == 3) {
 			// transition to RW requested, only accept waypoint if vehicle state has changed accordingly
-			return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+			const bool in_pure_mc_mode = _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
+						     !_navigator->get_vstatus()->in_transition_mode;
+			return in_pure_mc_mode;

 		} else if (int(_mission_item.params[0]) == 4) {
 			// transition to FW requested, only accept waypoint if vehicle state has changed accordingly