diff options
| -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; } |