From b56bd41034c89a5c7ac4674099d2261a5b4816b5 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 27 Apr 2022 14:41:03 +0900 Subject: [PATCH] Copter: radio fs continue-if-guided loses dependency on gcs failsafe --- ArduCopter/events.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp index ed207d10d1..bedf574a29 100644 --- a/ArduCopter/events.cpp +++ b/ArduCopter/events.cpp @@ -62,9 +62,8 @@ void Copter::failsafe_radio_on_event() announce_failsafe("Radio", "Continuing Auto"); desired_action = FailsafeAction::NONE; - } else if ((flightmode->in_guided_mode()) && - (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. Only if the GCS failsafe is enabled. + } else if ((flightmode->in_guided_mode()) && failsafe_option(FailsafeOption::RC_CONTINUE_IF_GUIDED)) { + // Allow guided mode to continue when FS_OPTIONS is set to continue in guided mode announce_failsafe("Radio", "Continuing Guided Mode"); desired_action = FailsafeAction::NONE;