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Copter: accept MISSION_START commands when vehicle is disarmed

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This commit is contained in:
Randy Mackay 2021-03-15 14:02:54 +09:00
parent 32fb3cb929
commit 2d9c6867f4
1 changed files with 1 additions and 2 deletions
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3
ArduCopter/GCS_Mavlink.cpp
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@ -796,8 +796,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
#if MODE_AUTO_ENABLED == ENABLED
case MAV_CMD_MISSION_START:
if (copter.motors->armed() &&
copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
if (copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
copter.set_auto_armed(true);
if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) {
copter.mode_auto.mission.start_or_resume();