Merge branch 'rc_timeout' into mpc_rc

2 files changed, 13 insertions, 3 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 829d6884b..47756dae0 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1100,7 +1100,7 @@ int commander_thread_main(int argc, char *argv[])
 			status_changed = true;
 		}
 
-		/* update subsystem */
+		/* update position setpoint triplet */
 		orb_check(pos_sp_triplet_sub, &updated);
 
 		if (updated) {
@@ -1319,10 +1319,15 @@ int commander_thread_main(int argc, char *argv[])
 
 				} else {
 					/* failsafe for manual modes */
-					transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
+					transition_result_t res = TRANSITION_DENIED;
+
+					if (!status.condition_landed) {
+						/* vehicle is not landed, try to perform RTL */
+						res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
+					}
 
 					if (res == TRANSITION_DENIED) {
-						/* RTL not allowed (no global position estimate), try LAND */
+						/* RTL not allowed (no global position estimate) or not wanted, try LAND */
 						res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
 
 						if (res == TRANSITION_DENIED) {
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index a9f5f4de7..227e99b48 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -574,6 +574,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
 	/* open uart */
 	_uart_fd = open(uart_name, O_RDWR | O_NOCTTY);
 
+	if (_uart_fd < 0) {
+		return _uart_fd;
+	}
+
+
 	/* Try to set baud rate */
 	struct termios uart_config;
 	int termios_state;