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Plane: only reset mission on disarm if not in AUTO mode

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disarming while in a mission should leave the plane still flying the
mission, but with motor stopped. The user may do this during a landing
for example, but we want to keep gliding
This commit is contained in:
Andrew Tridgell 2015-02-03 16:43:33 +11:00
parent a172d898c5
commit 2ae412d513
1 changed files with 8 additions and 2 deletions
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10
ArduPlane/GCS_Mavlink.pde
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@ -1094,8 +1094,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
channel_throttle->disable_out();
}
// reset the mission on disarm
mission.stop();
if (control_mode != AUTO) {
// reset the mission on disarm if we are not in auto
mission.reset();
}
// suppress the throttle in auto-throttle modes
throttle_suppressed = auto_throttle_mode;
//only log if disarming was successful
Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED;