From 7fc8ee85fac8b161dc8e030d92cf61c198c49ac6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 21 Feb 2017 13:55:27 +0100 Subject: [PATCH] Commander: Do not break out of RTL on stick input change --- src/modules/commander/commander.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 814b5c78a2..80cc17f337 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2522,8 +2522,7 @@ int commander_thread_main(int argc, char *argv[]) // abort landing or auto or loiter if sticks are moved significantly if (internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION || - internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER || - internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL) { + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER) { // transition to previous state if sticks are touched if ((_last_sp_man.timestamp != sp_man.timestamp) && ((fabsf(sp_man.x) - fabsf(_last_sp_man.x) > min_stick_change) ||