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Commander: only initialize to tablet mode and don't switch back on RC loss

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This commit is contained in:
Matthias Grob
2022-05-25 16:05:45 +02:00
committed by Julian Oes
parent 002579b3e0
commit 400e1f8214
1 changed files with 1 additions and 1 deletions
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src/modules/commander/Commander.cpp
+1 -1
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@@ -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,