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stae machine helper: remove unnecessary check for RC loss

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Thomas Gubler
2014-08-23 14:02:22 +02:00
parent ffd2fa7386
commit 3c10b78e20
2 changed files with 2 additions and 15 deletions
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15
src/modules/commander/state_machine_helper.cpp
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@@ -548,22 +548,9 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
break;
case MAIN_STATE_AUTO_LOITER:
/* go into failsafe on a engine failure or if datalink and RC is lost */
/* go into failsafe on a engine failure */
if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTL;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* also go into failsafe if just datalink is lost */
} else if (status->data_link_lost && data_link_loss_enabled) {
status->failsafe = true;