Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane:reset in landing seq on mode change while disarmed

Browse Source
This commit is contained in:
Henry Wurzburg 2023-10-13 19:44:55 -05:00 committed by Andrew Tridgell
parent a98def0b6d
commit 410fbb998b
1 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/mode.cpp
View File

@ -125,6 +125,13 @@ bool Mode::enter()
// but it should be harmless to disable the fence temporarily in these situations as well
plane.fence.manual_recovery_start();
#endif
//reset mission if in landing sequence, disarmed, not flying, and have changed to a non-autothrottle mode to clear prearm
if (plane.mission.get_in_landing_sequence_flag() &&
!plane.is_flying() && !plane.arming.is_armed_and_safety_off() &&
!plane.control_mode->does_auto_navigation()) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "In landing sequence: mission reset");
plane.mission.reset();
}
}
return enter_result;