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Plane: fail DO_REPOSITION if GUIDED cannot be entered

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When DO_REPOSITION asked for a change into GUIDED and the mode change
was refused (for example GUIDED being blocked by FLTMODE_GCSBLOCK) the
result of set_mode() was ignored.  The requested location was still
loaded with set_guided_WP() and the command was ACCEPTED, so a vehicle
in AUTO stayed in AUTO but flew towards the reposition target.

Return MAV_RESULT_FAILED instead, leaving the current mode's navigation
alone.
This commit is contained in:
Peter Barker
2026-09-14 19:59:12 +10:00
committed by Peter Barker
parent f47861a374
commit 0d3e2aaa8e
1 changed files with 5 additions and 1 deletions
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ArduPlane/GCS_MAVLink_Plane.cpp
+5 -1
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@@ -587,7 +587,11 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
// location is valid load and set
if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) ||
(plane.control_mode == &plane.mode_guided)) {
plane.set_mode(plane.mode_guided, ModeReason::GCS_COMMAND);
if (!plane.set_mode(plane.mode_guided, ModeReason::GCS_COMMAND)) {
// e.g. GUIDED blocked by FLTMODE_GCSBLOCK; don't touch the
// current mode's navigation target
return MAV_RESULT_FAILED;
}
#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
#endif