From 400e1f82140bcb5a32902582690a8364183e7c33 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 25 May 2022 16:05:45 +0200 Subject: [PATCH] Commander: only initialize to tablet mode and don't switch back on RC loss --- src/modules/commander/Commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 0d5c697d27..b09214558d 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2684,7 +2684,7 @@ Commander::run() * just a tablet. Since the RC will force its mode switch setting on connecting * we can as well just wait in a hold mode which enables tablet control. */ - if (_vehicle_status.rc_signal_lost && (_commander_state.main_state == commander_state_s::MAIN_STATE_MANUAL) + if (_vehicle_status.rc_signal_lost && (_commander_state.main_state_changes == 0) && _vehicle_status_flags.global_position_valid) { main_state_transition(_vehicle_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _vehicle_status_flags,