From c945a025ca06f667f110de7a0ef775ea0f2ddca3 Mon Sep 17 00:00:00 2001 From: Timothy Scott Date: Fri, 25 Oct 2019 09:21:37 +0200 Subject: [PATCH] Changed to only switch back to manual mode after RTL, instead of after any auto mode --- src/modules/commander/Commander.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 8ddf70b4457f..55def64b1704 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1846,10 +1846,11 @@ Commander::run() } const bool just_disarmed = !armed.armed && was_armed; - const bool just_finished_auto_mission = is_auto_state(internal_state.main_state) && _mission_result_sub.get().finished; + const bool just_finished_rtl = internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL + && _mission_result_sub.get().finished; const bool last_state_valid = last_non_auto_state != commander_state_s::MAIN_STATE_MAX; - if(just_disarmed && land_detector.landed && just_finished_auto_mission && last_state_valid){ + if(just_disarmed && land_detector.landed && just_finished_rtl && last_state_valid){ PX4_INFO("Just finished auto mission, transitioning back to last manual mode."); main_state_transition(status, last_non_auto_state, status_flags, &internal_state); }