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feat(commander): prevent termination on arm after gcs loss

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ttechnick
2026-03-19 11:16:46 +01:00
committed by Nick
parent a9c8767982
commit c333688700
1 changed files with 1 additions and 1 deletions
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src/modules/commander/failsafe/failsafe.cpp
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@@ -510,7 +510,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
|| state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
const bool dll_loss_ignored = isFailsafeIgnored(state.user_intended_mode, _param_com_dll_except.get())
|| ignore_any_link_loss_vtol_takeoff_fixedwing || dll_loss_ignored_land;
|| ignore_any_link_loss_vtol_takeoff_fixedwing || dll_loss_ignored_land || !state.armed;
if (_param_nav_dll_act.get() != int32_t(gcs_connection_loss_failsafe_mode::Disabled) && !dll_loss_ignored) {
CHECK_FAILSAFE(status_flags, gcs_connection_lost, fromNavDllOrRclActParam(_param_nav_dll_act.get()).causedBy(Cause::GCSConnectionLoss));