diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e9db923e6..cc68c4e36 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -621,11 +621,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s res = main_state_transition(status_local, MAIN_STATE_OFFBOARD); if (res == TRANSITION_DENIED) { print_reject_mode(status_local, "OFFBOARD"); + status_local->offboard_control_set_by_command = false; + } else { + /* Set flag that offboard was set via command, main state is not overridden by rc */ + status_local->offboard_control_set_by_command = true; } } else { /* If the mavlink command is used to enable or disable offboard control: * switch back to previous mode when disabling */ res = main_state_transition(status_local, main_state_pre_offboard); + status_local->offboard_control_set_by_command = false; } } break; @@ -1749,6 +1754,11 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s /* set main state according to RC switches */ transition_result_t res = TRANSITION_DENIED; + /* if offboard is set allready by a mavlink command, abort */ + if (status.offboard_control_set_by_command) { + return main_state_transition(status_local, MAIN_STATE_OFFBOARD); + } + /* offboard switch overrides main switch */ if (sp_man->offboard_switch == SWITCH_POS_ON) { res = main_state_transition(status_local, MAIN_STATE_OFFBOARD); |