Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-30 03:27:33 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

prevent RC while failsafe

Browse Source
This commit is contained in:
xp31
2021-01-29 09:40:23 +01:00
committed by Gautier Hattenberger
parent 013c399281
commit 79dcd14ef1
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/autopilot_static.c
+2 -1
View File
@@ -349,7 +349,8 @@ void autopilot_static_on_rc_frame(void)
autopilot_static_set_mode(new_autopilot_mode); autopilot_static_set_mode(new_autopilot_mode);
} }
/* if in HOME mode, don't allow switching to non-manual modes */ /* if in HOME mode, don't allow switching to non-manual modes */
else if ((autopilot.mode != AP_MODE_HOME) else if (((autopilot.mode != AP_MODE_HOME) && (autopilot.mode != AP_MODE_FAILSAFE))
#if UNLOCKED_HOME_MODE #if UNLOCKED_HOME_MODE
/* Allowed to leave home mode when UNLOCKED_HOME_MODE */ /* Allowed to leave home mode when UNLOCKED_HOME_MODE */
|| !too_far_from_home || !too_far_from_home