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(fix) mavlink_mission: keep mission active when vehicle disarms mid-mission.

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mahima-yoga
2025-07-02 11:14:14 +02:00
committed by Mahima Yoga
parent 1e84c2de6b
commit fbddf9655b
1 changed files with 2 additions and 3 deletions
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src/modules/mavlink/mavlink_mission.cpp
+2 -3
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@@ -1945,15 +1945,14 @@ MavlinkMissionManager::update_mission_state()
// Mission is complete if the navigator says it's finished // Mission is complete if the navigator says it's finished
_mission_state = MISSION_STATE_COMPLETE; _mission_state = MISSION_STATE_COMPLETE;
} else if (_mission_mode == MISSION_MODE_ACTIVE } else if (_mission_mode == MISSION_MODE_ACTIVE) {
&& vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
_mission_state = MISSION_STATE_ACTIVE; _mission_state = MISSION_STATE_ACTIVE;
} else if (_mission_mode == MISSION_MODE_SUSPENDED && mission_result.seq_reached >= 0) { } else if (_mission_mode == MISSION_MODE_SUSPENDED && mission_result.seq_reached >= 0) {
// Only PAUSED if we were actually in the middle of a mission // Only PAUSED if we were actually in the middle of a mission
_mission_state = MISSION_STATE_PAUSED; _mission_state = MISSION_STATE_PAUSED;
} else { } else if (mission_result.seq_reached < 0 && mission_result.seq_current < 1) {
_mission_state = MISSION_STATE_NOT_STARTED; _mission_state = MISSION_STATE_NOT_STARTED;
} }
} }