failsafe: do not add additional hold delay if failsafe action is hold

PX4 · Aug 16, 2024 · ad1d9e1 · ad1d9e1
1 parent ea673b0
commit ad1d9e1
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
@@ -477,7 +477,7 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 
 	// Check if we should enter delayed Hold
 	if (_current_delay > 0 && !_user_takeover_active && allow_user_takeover <= UserTakeoverAllowed::AlwaysModeSwitchOnly
-	    && selected_action != Action::Disarm && selected_action != Action::Terminate) {
+	    && selected_action != Action::Disarm && selected_action != Action::Terminate && selected_action != Action::Hold) {
 		returned_state.delayed_action = selected_action;
 		selected_action = Action::Hold;
 		allow_user_takeover = UserTakeoverAllowed::AlwaysModeSwitchOnly;