Copter: ModeAuto::do_guided use in_guided_mode method

ArduPilot · Sep 15, 2024 · 7d69509 · 7d69509
1 parent 6f73552
commit 7d69509
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
@@ -829,7 +829,7 @@ void ModeAuto::exit_mission()
 bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
 {
     // only process guided waypoint if we are in guided mode
-    if (copter.flightmode->mode_number() != Mode::Number::GUIDED && !(copter.flightmode->mode_number() == Mode::Number::AUTO && _mode == SubMode::NAVGUIDED)) {
+    if (!copter.flightmode->in_guided_mode()) {
         return false;
     }