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Commander: Do not break out of RTL on stick input change

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Lorenz Meier
2017-02-21 13:55:27 +01:00
parent bf06066010
commit 7fc8ee85fa
1 changed files with 1 additions and 2 deletions
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src/modules/commander/commander.cpp
+1 -2
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@@ -2522,8 +2522,7 @@ int commander_thread_main(int argc, char *argv[])
// abort landing or auto or loiter if sticks are moved significantly
if (internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL) {
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER) {
// transition to previous state if sticks are touched
if ((_last_sp_man.timestamp != sp_man.timestamp) &&
((fabsf(sp_man.x) - fabsf(_last_sp_man.x) > min_stick_change) ||