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px4-firmware
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RTL on RC failsafe

This commit is contained in:
Anton Babushkin 2014-01-18 00:15:34 +01:00
parent 98ad84bb58
commit 5a1b39a172
1 changed files with 8 additions and 0 deletions
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8
src/modules/commander/commander.cpp
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@ -1133,6 +1133,14 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
status.rc_signal_lost = true;
status_changed = true;
if (status.main_state != MAIN_STATE_AUTO) {
transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#audio: switching to RTL mode");
status.set_nav_state = NAV_STATE_RTL;
status.set_nav_state_timestamp = hrt_absolute_time();
}
}
}
}
}