From e1b7e53c046049742ff40a6ddb0308de144fa1f6 Mon Sep 17 00:00:00 2001
From: Arthur Benemann <arthur.benemann@gmail.com>
Date: Wed, 14 May 2014 12:11:28 -0700
Subject: [PATCH] Copter: only acceept Guided waypoints in Guided mode
Fix #1068. When receiving guided waypoints do not change to GUIDED mode. This serves as a safety precaution for GCS, since they must switch to guided mode before sending the waypoints.
---
ArduCopter/commands_logic.pde | 7 ++-----
1 file changed, 2 insertions(+), 5 deletions(-)
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index de7cbcda1..71d0c0847 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -777,12 +777,9 @@ static bool verify_yaw()
// do_guided - start guided mode
static bool do_guided(const AP_Mission::Mission_Command& cmd)
{
- // switch to guided mode if we're not already in guided mode
+ // only process guided waypoint if we are in guided mode
if (control_mode != GUIDED) {
- if (!set_mode(GUIDED)) {
- // if we failed to enter guided mode return immediately
- return false;
- }
+ return false;
}
// set wp_nav's destination
--
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