From 1223a9abd520b8167cb5c9c9985b153e14fa7fda Mon Sep 17 00:00:00 2001 From: acfloria Date: Thu, 4 Jan 2018 14:22:39 +0100 Subject: [PATCH] Commander: High latency telem fallback only in non-manual mode --- src/modules/commander/commander.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index c50eb71615..c0bc54a713 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -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");