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state machine helper: use stay in failsafe flag

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Thomas Gubler
2014-08-16 14:37:46 +02:00
parent 14189816f7
commit f480c10282
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/state_machine_helper.cpp
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@@ -534,11 +534,11 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
}
/* don't bother if RC is lost and mission is not yet finished */
} else if (status->rc_signal_lost) {
} else if (status->rc_signal_lost && !stay_in_failsafe) {
/* this mode is ok, we don't need RC for missions */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
} else {
} else if (!stay_in_failsafe){
/* everything is perfect */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
}