Rover: resetting reversed flag more generally

ArduPilot · Jun 17, 2024 · 45fef25 · 45fef25
1 parent e83afcf
commit 45fef25
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/Rover/mode.cpp b/Rover/mode.cpp
@@ -44,7 +44,10 @@ bool Mode::enter()
 
     // initialisation common to all modes
     if (ret) {
-        set_reversed(false);
+        // reset reversed for autopilot mode except auto
+        if (is_autopilot_mode() && mode_number() != Mode::Number::AUTO) {
+            set_reversed(false);
+        }
 
         // clear sailboat tacking flags
         g2.sailboat.clear_tack();

diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
@@ -13,6 +13,11 @@ bool ModeAuto::_enter()
     // initialise waypoint navigation library
     g2.wp_nav.init();
 
+    // reset reversed
+    if (!mission.is_resume()) {
+        g2.wp_nav.set_reversed(false);
+    }
+
     // other initialisation
     auto_triggered = false;