From 6bfcd28adeda4620cfd40c529d791b1faa63b1bb Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 13 Jul 2013 19:49:25 +0900
Subject: [PATCH] Copter: thr failsafe will not RTL if in batt failsafe

resolves issue #413
---
 ArduCopter/events.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 6ed0fa93a2..9adb87c8bc 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -43,6 +43,11 @@ static void failsafe_radio_on_event()
             }
             // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
             break;
+        case LAND:
+            // continue to land if battery failsafe is also active otherwise fall through to default handling
+            if (g.failsafe_battery_enabled && ap.low_battery) {
+                break;
+            }
         default:
             if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
                 // if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately