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commander: fix offboard disarm failsafe

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Damien SIX 2022-11-07 12:06:14 +01:00 committed by Beat Küng
parent 1e39c4828f
commit 9246d38667
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1 changed files with 5 additions and 0 deletions
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5
src/modules/commander/failsafe/failsafe.cpp
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@ -467,6 +467,11 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_
// offboard signal
if (status_flags.offboard_control_signal_lost && (status_flags.mode_req_offboard_signal & (1u << user_intended_mode))) {
action = fromOffboardLossActParam(_param_com_obl_rc_act.get(), user_intended_mode);
// for this specific case, user_intended_mode is not modified, we shouldn't check additional fallbacks
if (action == Action::Disarm) {
return action;
}
}
// posctrl