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commander: stay in failsafe even when landed

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If the failsafe state is ended when landed, we would switch back to
POSCTL and therefore take off again, however, all we want is stay on
ground and wait for the auto disarm.
This commit is contained in:
Julian Oes
2016-06-08 10:23:00 +02:00
committed by Lorenz Meier
parent 5ad671ed4c
commit 91127d51c0
1 changed files with 2 additions and 2 deletions
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src/modules/commander/state_machine_helper.cpp
+2 -2
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@@ -651,7 +651,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
{
const bool rc_lost = rc_loss_enabled && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd);
if (rc_lost && armed && !landed) {
if (rc_lost && armed) {
status->failsafe = true;
if (status_flags->condition_global_position_valid &&
@@ -671,7 +671,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
}
/* As long as there is RC, we can fallback to ALTCTL, or STAB. */
} else if (status_flags->gps_failure && armed && !landed) {
} else if (status_flags->gps_failure && armed) {
status->failsafe = true;
if (status_flags->condition_local_altitude_valid) {