diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-16 14:37:46 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-16 14:37:46 +0200 |
| commit | f480c10282efcb56b643b2c676303f1f57498fda (patch) | |
| tree | 3cf89acb929554419deafa04607fda4770abe113 /src/modules/commander/state_machine_helper.cpp | |
| parent | 14189816f7e751b14725939fd5a200c39818f5df (diff) | |
| download | px4-firmware-f480c10282efcb56b643b2c676303f1f57498fda.tar.gz px4-firmware-f480c10282efcb56b643b2c676303f1f57498fda.tar.bz2 px4-firmware-f480c10282efcb56b643b2c676303f1f57498fda.zip | |
state machine helper: use stay in failsafe flag
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index f82eec695..3f4bfaa1c 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -534,11 +534,11 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en } /* don't bother if RC is lost and mission is not yet finished */ - } else if (status->rc_signal_lost) { + } else if (status->rc_signal_lost && !stay_in_failsafe) { /* this mode is ok, we don't need RC for missions */ status->nav_state = NAVIGATION_STATE_AUTO_MISSION; - } else { + } else if (!stay_in_failsafe){ /* everything is perfect */ status->nav_state = NAVIGATION_STATE_AUTO_MISSION; } |