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Commander: High latency telem fallback only in non-manual mode

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acfloria
2018-01-04 14:22:39 +01:00
committed by Beat Küng
parent b613ca051a
commit 1223a9abd5
1 changed files with 8 additions and 2 deletions
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src/modules/commander/commander.cpp
+8 -2
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@@ -2614,9 +2614,15 @@ Commander::run()
}
} else {
if (!status.data_link_lost && high_latency_link_exists && !status.high_latency_data_link_active && armed.armed) {
if (!status.data_link_lost && high_latency_link_exists && !status.high_latency_data_link_active && armed.armed &&
internal_state.main_state != commander_state_s::MAIN_STATE_MANUAL &&
internal_state.main_state != commander_state_s::MAIN_STATE_ACRO &&
internal_state.main_state != commander_state_s::MAIN_STATE_RATTITUDE &&
internal_state.main_state != commander_state_s::MAIN_STATE_STAB &&
internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL &&
internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL ) {
// low latency telemetry lost and high latency link existing
// only go to the high latency status if armed to avoid unnecessary transmitting
// only go to the high latency status if armed and not in a manual mode to avoid unnecessary transmitting data
status.high_latency_data_link_active = true;
status_changed = true;
mavlink_log_critical(&mavlink_log_pub, "ALL LOW LATENCY DATA LINKS LOST, ACTIVATING HIGH LATENCY LINK");