forked from Archive/PX4-Autopilot
commander: Ensure RTL can be triggered in all modes
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a0176474c7
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@ -2504,12 +2504,15 @@ set_control_mode()
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control_mode.flag_control_termination_enabled = false;
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break;
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case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
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/* override is not ok for the RTL and recovery mode */
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control_mode.flag_external_manual_override_ok = false;
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/* fallthrough */
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case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
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control_mode.flag_control_manual_enabled = false;
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control_mode.flag_control_auto_enabled = true;
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control_mode.flag_control_rates_enabled = true;
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