Mission block: only accept transition WP as accepted once no longer in transition mode

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-05-26 14:10:05 +08:00 · 2022-01-13 18:59:14 +01:00
1 changed files with 2 additions and 1 deletions
@@ -114,7 +114,8 @@ MissionBlock::is_mission_item_reached()

 		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;
+			return !_navigator->get_vstatus()->in_transition_mode
+			       && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;

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