yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Allow mission with active DL and DLL failsafe off

Browse Source
This commit is contained in:
sander
2016-08-04 11:26:21 +02:00
committed by Lorenz Meier
parent e8a87538b8
commit bc7178c538
1 changed files with 2 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/commander/state_machine_helper.cpp
View File

@@ -801,10 +801,9 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
/* datalink loss disabled:
* check if both, RC and datalink are lost during the mission
* or RC is lost after the mission finishes in air: this should always trigger RCRECOVER */
* or all links are lost after the mission finishes in air: this should always trigger RCRECOVER */
} else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) ||
(status->rc_signal_lost && !landed && mission_finished))) {
} else if (!data_link_loss_enabled && status->rc_signal_lost && status->data_link_lost && !landed && mission_finished) {
status->failsafe = true;
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {