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FlightModeManager: remove switching out of a task for every mode change

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This was an idea to be able to reinitialize on mode change e.g. from
Holde mode to Land mode which are currently all still handled by
FlightTaskAuto and don't require a task switch.

But I found out it leads to issues because the last setpoint and the
ekf reset counter state from the previous task are lost and as a result
the setpoint transition cannot be handled consistently anymore.
This commit is contained in:
Matthias Grob
2021-03-10 13:57:20 +01:00
committed by Lorenz Meier
parent 63a35ccabd
commit 89b502b9a0
1 changed files with 0 additions and 7 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
-7
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@@ -175,13 +175,6 @@ void FlightModeManager::start_flight_task()
return;
}
// Switch to clean new task when mode switches e.g. to reset state when switching between auto modes
// exclude Orbit mode since the task is initiated in FlightTasks through the vehicle_command and we should not switch out
if (_last_vehicle_nav_state != _vehicle_status_sub.get().nav_state
&& _vehicle_status_sub.get().nav_state != vehicle_status_s::NAVIGATION_STATE_ORBIT) {
switchTask(FlightTaskIndex::None);
}
// Only run transition flight task if altitude control is enabled (e.g. in Altitdue, Position, Auto flight mode)
if (_vehicle_status_sub.get().in_transition_mode && _vehicle_control_mode_sub.get().flag_control_altitude_enabled) {