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Plane: reset mission on disarm 

this makes repeated missions easier
This commit is contained in:
Andrew Tridgell 2013-12-20 12:04:23 +11:00
parent 89366a1ee1
commit 43a56151d7
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/GCS_Mavlink.pde
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@ -1267,10 +1267,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
} else if (packet.param1 == 0.0f) { } else if (packet.param1 == 0.0f) {
if (arming.disarm()) { if (arming.disarm()) {
//only log if disarming was successful
if (arming.arming_required() != AP_Arming::YES_ZERO_PWM) { if (arming.arming_required() != AP_Arming::YES_ZERO_PWM) {
channel_throttle->disable_out(); channel_throttle->disable_out();
} }
// reset the mission on disarm
change_command(0);
//only log if disarming was successful
Log_Arm_Disarm(); Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} else { } else {