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navigator, commander: RTL and RC failsafe fixes

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This commit is contained in:
Anton Babushkin
2014-01-18 14:25:24 +01:00
parent 5a1b39a172
commit b175937b5f
3 changed files with 31 additions and 11 deletions
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src/modules/commander/commander.cpp
+1 -1
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@@ -1133,7 +1133,7 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
status.rc_signal_lost = true;
status_changed = true;
if (status.main_state != MAIN_STATE_AUTO) {
if (status.main_state != MAIN_STATE_AUTO && armed.armed) {
transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO);
if (res == TRANSITION_CHANGED) {
mavlink_log_critical(mavlink_fd, "#audio: switching to RTL mode");