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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-20 22:00:36 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-21 06:54:16 +0200 |
| commit | 5a8eca75bfee7aa1e8e7107ad089ee924736b96f (patch) | |
| tree | a5b8f236e609e2e5747e29261aea534d7b0f6d47 | |
| parent | 7e1a21a39e107713d3985f832eb7d38f26851075 (diff) | |
| download | px4-firmware-5a8eca75bfee7aa1e8e7107ad089ee924736b96f.tar.gz px4-firmware-5a8eca75bfee7aa1e8e7107ad089ee924736b96f.tar.bz2 px4-firmware-5a8eca75bfee7aa1e8e7107ad089ee924736b96f.zip | |
Commander: Fix RTL mode switch logic
| -rw-r--r-- | src/modules/commander/commander.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3fecd9f58..948543714 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2237,14 +2237,14 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s /* fallback to LOITER if home position not set */ res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_LOITER); + } - if (res != TRANSITION_DENIED) { - /* changed successfully or already in this state */ - return res; - } - - /* mode rejected, continue to evaluate the main system mode */ + if (res != TRANSITION_DENIED) { + /* changed successfully or already in this state */ + return res; } + + /* if we get here mode was rejected, continue to evaluate the main system mode */ } /* offboard and RTL switches off or denied, check main mode switch */ |