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Enable fallback RTL for RCL in manual modes

This commit is contained in:
Sander Smeets 2021-02-16 10:20:47 +01:00
parent 59b31e3c5b
commit c0204e8f31
1 changed files with 7 additions and 0 deletions
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7
src/modules/commander/state_machine_helper.cpp
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@ -441,6 +441,13 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
/* fall back to RTL when no RCL activity was set and in manual mode */
} else if (status->rc_signal_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_actions_t::AUTO_RTL, param_com_rcl_act_t);
} else {
switch (internal_state->main_state) {
case commander_state_s::MAIN_STATE_ACRO: