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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-23 11:13:42 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-23 11:13:42 +0100 |
| commit | 68d8230e78b9116da794e93a0a5edcce4d1d8ee4 (patch) | |
| tree | e0c86a748a5604e042f1e56c464df117d4eb3030 /src/modules/commander | |
| parent | 23d0c6f8dd1a0b9aa64dafe26cfd56e43637c5ee (diff) | |
| parent | f6176890947dd33f6b26fb2cad53263882fb8e3b (diff) | |
| download | px4-firmware-68d8230e78b9116da794e93a0a5edcce4d1d8ee4.tar.gz px4-firmware-68d8230e78b9116da794e93a0a5edcce4d1d8ee4.tar.bz2 px4-firmware-68d8230e78b9116da794e93a0a5edcce4d1d8ee4.zip | |
Merge remote-tracking branch 'upstream/control_groups' into fw_autoland_att_tecs_navigator_termination_controlgroups
Conflicts:
src/systemcmds/tests/module.mk
src/systemcmds/tests/tests.h
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 9ed9051fa..3fc1d2c19 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1624,8 +1624,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c /* switch to failsafe mode */ bool manual_control_old = control_mode->flag_control_manual_enabled; - if (!status->condition_landed) { - /* in air: try to hold position */ + if (!status->condition_landed && status->condition_local_position_valid) { + /* in air: try to hold position if possible */ res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); } else { |