From a94f75fe29749b3c6f250bdf6c5105d3387e4063 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 5 Nov 2022 14:24:02 +1100
Subject: [PATCH] Plane: fixed changing modes causing aerobatics abort

---
 ArduPlane/commands_logic.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index c8df864fa6..7e365b932f 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -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;