Plane: invalidate NAVL1's cached state after a mode change

magicrub · Oct 26, 2023 · 345862c · 345862c
1 parent 9e89c67
commit 345862c
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
@@ -132,6 +132,10 @@ bool Mode::enter()
            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "In landing sequence: mission reset");
            plane.mission.reset();
         }
+
+        // Invalidate the nav controller's state so that any new mode that doesn't use it isn't using it's stale status data
+        // flag the NAV_L1 controller as stale AFTER _enter() so that when a mode starts it can know if we're in a loiter already or not.
+        plane.nav_controller->set_data_is_stale();
     }
 
     return enter_result;