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Copter: radio fs continue-if-guided loses dependency on gcs failsafe

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This commit is contained in:
Randy Mackay 2022-04-27 14:41:03 +09:00
parent b3869f3a7c
commit b56bd41034
1 changed files with 2 additions and 3 deletions
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ArduCopter/events.cpp
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@ -62,9 +62,8 @@ void Copter::failsafe_radio_on_event()
announce_failsafe("Radio", "Continuing Auto"); announce_failsafe("Radio", "Continuing Auto");
desired_action = FailsafeAction::NONE; desired_action = FailsafeAction::NONE;
} else if ((flightmode->in_guided_mode()) && } else if ((flightmode->in_guided_mode()) && failsafe_option(FailsafeOption::RC_CONTINUE_IF_GUIDED)) {
(failsafe_option(FailsafeOption::RC_CONTINUE_IF_GUIDED)) && (g.failsafe_gcs != FS_GCS_DISABLED)) { // Allow guided mode to continue when FS_OPTIONS is set to continue in guided mode
// Allow guided mode to continue when FS_OPTIONS is set to continue in guided mode. Only if the GCS failsafe is enabled.
announce_failsafe("Radio", "Continuing Guided Mode"); announce_failsafe("Radio", "Continuing Guided Mode");
desired_action = FailsafeAction::NONE; desired_action = FailsafeAction::NONE;