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Copter: GCS Failsafe to trigger if using Guided mode

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Robert Lefebvre 2014-12-31 20:11:28 -05:00 committed by Randy Mackay
parent 82a08036f6
commit 5f19a43104
1 changed files with 3 additions and 2 deletions
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5
ArduCopter/events.pde
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@ -230,8 +230,9 @@ static void failsafe_gcs_check()
{ {
uint32_t last_gcs_update_ms; uint32_t last_gcs_update_ms;
// return immediately if gcs failsafe is disabled, gcs has never been connected or we are not overriding rc controls from the gcs // return immediately if gcs failsafe is disabled, gcs has never been connected or we are not overriding rc controls from the gcs and we are not in guided mode
if( g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || !failsafe.rc_override_active) { // this also checks to see if we have a GCS failsafe active, if we do, then must continue to process the logic for recovery from this state.
if((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED))) {
return; return;
} }