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Plane: fixed changing modes causing aerobatics abort

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This commit is contained in:
Andrew Tridgell 2022-11-05 14:24:02 +11:00
parent 7fa45e343f
commit a94f75fe29
1 changed files with 3 additions and 2 deletions
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5
ArduPlane/commands_logic.cpp
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@ -1190,10 +1190,11 @@ bool Plane::verify_nav_script_time(const AP_Mission::Mission_Command& cmd)
// check if we are in a NAV_SCRIPT_* command
bool Plane::nav_scripting_active(void)
{
if (AP_HAL::millis() - nav_scripting.current_ms > 200) {
if (nav_scripting.enabled && AP_HAL::millis() - nav_scripting.current_ms > 200) {
// set_target_throttle_rate_rpy has not been called from script in last 200ms
nav_scripting.enabled = false;
nav_scripting.current_ms = 0;
gcs().send_text(MAV_SEVERITY_INFO, "NavScript time out");
}
if (control_mode == &mode_auto &&
mission.get_current_nav_cmd().id != MAV_CMD_NAV_SCRIPT_TIME) {
@ -1235,7 +1236,6 @@ void Plane::set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps
nav_scripting.yaw_rate_dps = constrain_float(yaw_rate_dps, -g.acro_yaw_rate, g.acro_yaw_rate);
nav_scripting.throttle_pct = constrain_float(throttle_pct, aparm.throttle_min, aparm.throttle_max);
nav_scripting.current_ms = AP_HAL::millis();
nav_scripting.enabled = true;
}
// enable NAV_SCRIPTING takeover in modes other than AUTO using script time mission commands
@ -1252,6 +1252,7 @@ bool Plane::nav_scripting_enable(uint8_t mode)
case Mode::Number::CRUISE:
case Mode::Number::LOITER:
nav_scripting.enabled = true;
nav_scripting.current_ms = AP_HAL::millis();
break;
default:
nav_scripting.enabled = false;