From 9246d38667311b8f53c3b38a13e35bf4a3969f70 Mon Sep 17 00:00:00 2001
From: Damien SIX <damien.six@ls2n.fr>
Date: Mon, 7 Nov 2022 12:06:14 +0100
Subject: [PATCH] commander: fix offboard disarm failsafe

---
 src/modules/commander/failsafe/failsafe.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
index 12556a0e86..c745b19381 100644
--- a/src/modules/commander/failsafe/failsafe.cpp
+++ b/src/modules/commander/failsafe/failsafe.cpp
@@ -467,6 +467,11 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_
 	// offboard signal
 	if (status_flags.offboard_control_signal_lost && (status_flags.mode_req_offboard_signal & (1u << user_intended_mode))) {
 		action = fromOffboardLossActParam(_param_com_obl_rc_act.get(), user_intended_mode);
+
+		// for this specific case, user_intended_mode is not modified, we shouldn't check additional fallbacks
+		if (action == Action::Disarm) {
+			return action;
+		}
 	}
 
 	// posctrl