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Plane:reset in landing seq on mode change while disarmed

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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
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7
ArduPlane/mode.cpp
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@ -125,6 +125,13 @@ bool Mode::enter()
// but it should be harmless to disable the fence temporarily in these situations as well // but it should be harmless to disable the fence temporarily in these situations as well
plane.fence.manual_recovery_start(); plane.fence.manual_recovery_start();
#endif #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; return enter_result;