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commander: fix takeoff and land CI test

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This fixes the takeoff and land CI test where we do a takeoff and land
without RC connected.

In my opinion it does not make sense to go into RC lost failsafe if
a datalink is still available.
Of course, this can be dangerous if someone has a companion computer
connected which gets detected as "data link" but actually has no
connection to the ground station.
This commit is contained in:
Julian Oes
2020-07-16 14:05:29 +02:00
committed by Daniel Agar
parent e79ccd1333
commit 9d97148ce8
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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@@ -532,8 +532,8 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
} else if (rc_lost && !data_link_loss_act_configured && is_armed) {
/* go into failsafe if RC is lost and datalink loss is not set up and rc loss is not DISABLED */
} else if (rc_lost && !data_link_loss_act_configured && status->data_link_lost && is_armed) {
/* go into failsafe if RC is lost and datalink is lost and datalink loss is not set up */
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);