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commander: auto transition to LOITER if disarmed with no RC only requires a valid global position

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Daniel Agar
2020-12-08 18:26:03 -05:00
committed by GitHub
parent 82746af07a
commit cd1ffa63cd
1 changed files with 1 additions and 1 deletions
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src/modules/commander/Commander.cpp
+1 -1
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@@ -2383,7 +2383,7 @@ Commander::run()
* we can as well just wait in a hold mode which enables tablet control. * we can as well just wait in a hold mode which enables tablet control.
*/ */
if (_status.rc_signal_lost && (_internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL) if (_status.rc_signal_lost && (_internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL)
&& _status_flags.condition_home_position_valid) { && _status_flags.condition_global_position_valid) {
main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state); main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state);
} }