From 87c75332e7729f824955a345cd51d17c7185b28a Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Wed, 29 Apr 2020 23:12:49 -0700 Subject: [PATCH] Plane: ignore guided cmds from mavlink if we're in avoidADSB. This change makes it behave like MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED --- ArduPlane/GCS_Mavlink.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index 543013d2aa..d3c9902201 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -1168,8 +1168,7 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg) // in e.g., RTL, CICLE. Specifying a single mode for companion // computer control is more safe (even more so when using // FENCE_ACTION = 4 for geofence failures). - if ((plane.control_mode != &plane.mode_guided) && - (plane.control_mode != &plane.mode_avoidADSB)) { // don't screw up failsafes + if (plane.control_mode != &plane.mode_guided) { // don't screw up failsafes break; } @@ -1279,7 +1278,7 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg) // in modes such as RTL, CIRCLE, etc. Specifying ONLY one mode // for companion computer control is more safe (provided // one uses the FENCE_ACTION = 4 (RTL) for geofence failures). - if (plane.control_mode != &plane.mode_guided && plane.control_mode != &plane.mode_avoidADSB) { + if (plane.control_mode != &plane.mode_guided) { //don't screw up failsafes break; }