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

iq-motion-control · Aug 21, 2024 · 26ca1b8 · 26ca1b8
1 parent e85e743
commit 26ca1b8
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;