diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index abcf72717..aaabde66b 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -251,6 +251,18 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta } break; + + case MAIN_STATE_OFFBOARD: + + /* need offboard signal */ + if (!status->offboard_control_signal_lost) { + ret = TRANSITION_CHANGED; + } + + break; + + default: + break; } if (ret == TRANSITION_CHANGED) { |