Plane:reset in landing seq on mode change while disarmed

Hwurzburg · Oct 14, 2023 · e64698d · e64698d
1 parent c980e04
commit e64698d
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
@@ -125,6 +125,12 @@ 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-autothrttle mode to clear prearm
+        if (plane.mission.get_in_landing_sequence_flag() &&
+            !plane.is_flying() && !plane.arming.is_armed_and_safety_off() &&
+            !plane.throttle_suppressed) {
+           plane.mission.reset();
+        }
     }
 
     return enter_result;