diff options
| -rw-r--r-- | src/modules/commander/commander.cpp | 15 |
1 files changed, 10 insertions, 5 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 6a668fcd7..47053838c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1133,12 +1133,17 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST"); status.rc_signal_lost = true; status_changed = true; - if (status.main_state != MAIN_STATE_AUTO && armed.armed) { - transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO); + } + if (status.main_state != MAIN_STATE_AUTO && armed.armed) { + transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO); + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#audio: failsafe, switching to RTL mode"); + status.set_nav_state = NAV_STATE_RTL; + status.set_nav_state_timestamp = hrt_absolute_time(); + } else if (status.main_state != MAIN_STATE_SEATBELT) { + res = main_state_transition(&status, MAIN_STATE_SEATBELT); if (res == TRANSITION_CHANGED) { - mavlink_log_critical(mavlink_fd, "#audio: switching to RTL mode"); - status.set_nav_state = NAV_STATE_RTL; - status.set_nav_state_timestamp = hrt_absolute_time(); + mavlink_log_critical(mavlink_fd, "#audio: failsafe, switching to SEATBELT mode"); } } } |