Plane:reset in landing seq on mode change while disarmed

bugobliterator · Oct 18, 2023 · 410fbb9 · 410fbb9
1 parent a98def0
commit 410fbb9
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
@@ -125,6 +125,13 @@ bool Mode::enter()
         // but it should be harmless to disable the fence temporarily in these situations as well
         plane.fence.manual_recovery_start();
 #endif
+        //reset mission if in landing sequence, disarmed, not flying, and have changed to a non-autothrottle mode to clear prearm
+        if (plane.mission.get_in_landing_sequence_flag() &&
+            !plane.is_flying() && !plane.arming.is_armed_and_safety_off() &&
+            !plane.control_mode->does_auto_navigation()) {
+           GCS_SEND_TEXT(MAV_SEVERITY_INFO, "In landing sequence: mission reset");
+           plane.mission.reset();
+        }
     }
 
     return enter_result;