From b240e31c1c25c07ffe046a3433d43fa8b862c136 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 29 Dec 2012 11:18:49 +0100 Subject: [PATCH] Safer fixed wing mode switching --- apps/fixedwing_att_control/fixedwing_att_control_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index c51d06579e..cd479d40d8 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -240,7 +240,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* set flaps to zero */ actuators.control[4] = 0.0f; - } else { + } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { /* if the RC signal is lost, try to stay level and go slowly back down to ground */