From af58c414fc40f6151ecb3df3803f9820290e5399 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 7 Mar 2023 16:29:10 +0100
Subject: [PATCH] bugfix in submode check logic

---
 src/fsfw/subsystem/SubsystemBase.cpp | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp
index 560cb769..a876ae33 100644
--- a/src/fsfw/subsystem/SubsystemBase.cpp
+++ b/src/fsfw/subsystem/SubsystemBase.cpp
@@ -25,13 +25,18 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry
   std::map<object_id_t, ChildInfo>::iterator childIter;
 
   auto checkSubmode = [&]() {
+    uint8_t mask;
+    bool submodesAllowedMask = tableIter.value->submodesAllowed(&mask);
+    uint8_t submodeToCheckAgainst = tableIter.value->getSubmode();
     if (tableIter.value->inheritSubmode()) {
-      if (childIter->second.submode != targetSubmode) {
+      submodeToCheckAgainst = targetSubmode;
+    }
+    if (not submodesAllowedMask) {
+      if (childIter->second.submode != submodeToCheckAgainst) {
         return returnvalue::FAILED;
       }
     }
-    uint8_t mask;
-    if (tableIter.value->submodesAllowed(&mask)) {
+    if (submodesAllowedMask) {
       if ((childIter->second.submode | mask) != mask) {
         return returnvalue::FAILED;
       }