commander: Forbid override in stabilized mode

10 years ago · 4594945d57
1 changed files with 2 additions and 0 deletions
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@ -2437,6 +2437,8 @@ set_control_mode()
				@@ -2437,6 +2437,8 @@ set_control_mode()
 		control_mode.flag_control_position_enabled = false;
 		control_mode.flag_control_velocity_enabled = false;
 		control_mode.flag_control_termination_enabled = false;
+		/* override is not ok in stabilized mode */
+		control_mode.flag_external_manual_override_ok = false;
 		break;

 	case vehicle_status_s::NAVIGATION_STATE_ALTCTL: