Merge remote-tracking branch 'px4/pr/1058' into navigator_rewrite_offboard

Conflicts:
	src/modules/commander/commander.cpp
	src/modules/commander/state_machine_helper.cpp
	src/modules/mavlink/mavlink_receiver.cpp
	src/modules/mavlink/mavlink_receiver.h
	src/modules/uORB/topics/vehicle_status.h

1 files changed, 9 insertions, 0 deletions

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 74885abf6..81b489ce3 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -234,6 +234,15 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 		}
 		break;
 
+	case MAIN_STATE_OFFBOARD:
+
+		/* need offboard signal */
+		if (!status->offboard_control_signal_lost) {
+			ret = TRANSITION_CHANGED;
+		}
+
+		break;
+
 	case MAIN_STATE_MAX:
 	default:
 		break;