diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bef92d8fc..2058cd92e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1779,6 +1779,13 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin } print_reject_mode(status, "AUTO_MISSION"); + + // fallback to LOITER if home position not set + res = main_state_transition(status, MAIN_STATE_AUTO_LOITER); + + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } } // fallback to POSCTL |