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failsafe: prevent switch offboard -->pos without RC

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ttechnick
2026-01-16 11:04:27 +01:00
committed by Silvan Fuhrer
parent ac4f419b50
commit 03264ce1a7
1 changed files with 9 additions and 0 deletions
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src/modules/commander/failsafe/failsafe.cpp
+9
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@@ -669,6 +669,15 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_
if (action == Action::Disarm) {
return action;
}
if (action == Action::FallbackPosCtrl || action == Action::FallbackAltCtrl || action == Action::FallbackStab) {
// Check if RC is available, if not use the mode specified in NAV_RCL_ACT
if (status_flags.manual_control_signal_lost) {
ActionOptions rc_loss_action = fromNavDllOrRclActParam(_param_nav_rcl_act.get());
action = rc_loss_action.action;
}
}
}
// PosCtrl/PositionSlow -> AltCtrl