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fix(navigator): gate DO_CHANGE_ALTITUDE setpoint updates by mode

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Wang Jiayue
2026-06-12 15:00:51 +08:00
committed by Ramon Roche
parent 3042f906ab
commit 0de218ee20
1 changed files with 5 additions and 3 deletions
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8
src/modules/navigator/navigator_main.cpp
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@@ -430,9 +430,11 @@ void Navigator::run()
// CMD_DO_REPOSITION is acknowledged by commander
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_ALTITUDE
&& _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// only update the setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter,
// which can lead to dangerous and unexpected behaviors (see loiter.cpp, there is an if(armed) in there too)
&& _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED
&& (_navigation_mode == &_course
|| _vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
// Only update the setpoint if armed and already in a mode that consumes it. Otherwise a later
// switch into Hold could execute a stale setpoint (loiter.cpp applies it within a 500ms window).
if (_navigation_mode == &_course) {
// In course mode, update altitude directly (after geofence check)