Commander: never allow to switch out of Terminate state with user intend

Signed-off-by: Silvan Fuhrer <[email protected]>
PX4 · Jul 26, 2024 · 97561d7 · 97561d7
1 parent ee8030d
commit 97561d7
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/modules/commander/UserModeIntention.cpp b/src/modules/commander/UserModeIntention.cpp
@@ -69,6 +69,9 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource
 		}
 	}
 
+	// never allow to change out of termination state
+	allow_change &= _vehicle_status.nav_state != vehicle_status_s::NAVIGATION_STATE_TERMINATION;
+
 	if (allow_change) {
 		_had_mode_change = true;
 		_user_intented_nav_state = user_intended_nav_state;