Commander: do not switch out of Terminte after disarm

Signed-off-by: Silvan Fuhrer <[email protected]>
PX4 · Jul 26, 2024 · ee8030d · ee8030d
1 parent 0b1eba9
commit ee8030d
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/src/modules/commander/UserModeIntention.cpp b/src/modules/commander/UserModeIntention.cpp
@@ -73,7 +73,10 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource
 		_had_mode_change = true;
 		_user_intented_nav_state = user_intended_nav_state;
 
-		if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)) {
+		// Special case termination state: even though this mode prevents arming,
+		// still don't switch out of it after disarm and thus store it in _nav_state_after_disarming.
+		if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)
+		    || user_intended_nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
 			_nav_state_after_disarming = user_intended_nav_state;
 		}