aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: report success if already paused or resumed

Browse Source
This commit is contained in:
CharlieBurge 2023-03-01 23:23:06 +00:00 committed by Peter Hall
parent dbde36b504
commit 659ba8324b
1 changed files with 9 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
ArduCopter/mode_auto.cpp
View File

@ -2235,12 +2235,16 @@ bool ModeAuto::verify_nav_attitude_time(const AP_Mission::Mission_Command& cmd)
// pause - Prevent aircraft from progressing along the track // pause - Prevent aircraft from progressing along the track
bool ModeAuto::pause() bool ModeAuto::pause()
{ {
// do not pause if already paused or not in the WP sub mode or already reached to the destination // do not pause if not in the WP sub mode or already reached to the destination
if(wp_nav->paused() || _mode != SubMode::WP || wp_nav->reached_wp_destination()) { if(_mode != SubMode::WP || wp_nav->reached_wp_destination()) {
return false; return false;
} }
wp_nav->set_pause(); // do not pause if already paused
if (!wp_nav->paused()) {
wp_nav->set_pause();
}
return true; return true;
} }
@ -2248,11 +2252,10 @@ bool ModeAuto::pause()
bool ModeAuto::resume() bool ModeAuto::resume()
{ {
// do not resume if not paused before // do not resume if not paused before
if(!wp_nav->paused()) { if(wp_nav->paused()) {
return false; wp_nav->set_resume();
} }
wp_nav->set_resume();
return true; return true;
} }