From 65c802862979041efc6014f8c6fac240d49a806b Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jan 2013 07:35:40 +0100
Subject: Working on override channel mapping, allowed trim cal only with RC on

---
 apps/commander/commander.c | 5 +++++
 1 file changed, 5 insertions(+)

(limited to 'apps/commander/commander.c')

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 8323932c7..c39c3d6db 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -277,6 +277,11 @@ void tune_error(void) {
 
 void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
 {
+	if (current_status.offboard_control_signal_lost) {
+		mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
+		return;
+	}
+
 	int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
 	struct manual_control_setpoint_s sp;
 	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
-- 
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