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navigator_main: DO_REPOSITION: only trigger reposition setpoint update if vehicle is armed

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-06-07 18:17:07 +02:00
parent cbf0fe8803
commit 9863c24b40
1 changed files with 4 additions and 1 deletions
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src/modules/navigator/navigator_main.cpp
+4 -1
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@@ -234,7 +234,10 @@ void Navigator::run()
// TODO: move DO_GO_AROUND handling to navigator
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION
&& _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// only update the reposition setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter,
// which can lead to dangerous and unexpected behaviors (see loiter.cpp, there is an if(armed) in there too)
bool reposition_valid = true;