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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-19 07:41:25 -0800 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-19 07:41:25 -0800 |
| commit | b9a533acae4ee35a6ce6722552cfdfcb065c84aa (patch) | |
| tree | 5ee6cbdee8a04edd728d2df884160ce0ce08eaf7 /src/modules/commander | |
| parent | f042ea162310783a5d58d32478371f2c32a0647e (diff) | |
| parent | 19fab5f3952bd2d4fba956f85b07feaac8336403 (diff) | |
| download | px4-firmware-b9a533acae4ee35a6ce6722552cfdfcb065c84aa.tar.gz px4-firmware-b9a533acae4ee35a6ce6722552cfdfcb065c84aa.tar.bz2 px4-firmware-b9a533acae4ee35a6ce6722552cfdfcb065c84aa.zip | |
Merge pull request #505 from PX4/rc_failsafe
Futaba RC failsafe support
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 dfd4d2f73..0357542f0 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1598,8 +1598,8 @@ 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 { |