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introduce new nav state to allow normal rtl with RC switch

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Thomas Gubler
2014-08-26 22:22:59 +02:00
parent 8a9da209d1
commit 3d528a2c97
3 changed files with 6 additions and 2 deletions
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2
src/modules/commander/state_machine_helper.cpp
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@@ -462,7 +462,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTL;
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {