Copter: ignore flight mode change requests if we're already in the de…

…sired mode
ArduPilot · Oct 15, 2013 · 7c7f235 · 7c7f235
1 parent deb171a
commit 7c7f235
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
@@ -340,6 +340,11 @@ static bool set_mode(uint8_t mode)
     bool success = false;
     bool ignore_checks = !motors.armed();   // allow switching to any mode if disarmed.  We rely on the arming check to perform
 
+    // return immediately if we are already in the desired mode
+    if (mode == control_mode) {
+        return true;
+    }
+
     switch(mode) {
         case ACRO:
             success = true;