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commander: only move to POSCTL when armed 

I don't think we want to switch to POSCTL when the sticks are moved when
armed.
This commit is contained in:
Julian Oes 2021-05-06 13:13:39 +02:00 committed by Matthias Grob
parent 66b069e788
commit a91fa7f3c1
1 changed files with 3 additions and 1 deletions
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4
src/modules/commander/Commander.cpp
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@ -2384,9 +2384,11 @@ Commander::run()
_status.rc_signal_lost = false;
// abort autonomous mode and switch to position mode if sticks are moved significantly
// Abort autonomous mode and switch to position mode if sticks are moved significantly
// but only if actually in air.
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on
&& _armed.armed
&& _manual_control.wantsOverride(_vehicle_control_mode, _status)) {
const transition_result_t posctl_result =
main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);