From c0204e8f3101826c8fa35dc24975edc0ea2ba67d Mon Sep 17 00:00:00 2001 From: Sander Smeets Date: Tue, 16 Feb 2021 10:20:47 +0100 Subject: [PATCH] Enable fallback RTL for RCL in manual modes --- src/modules/commander/state_machine_helper.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 54417eb772..edef773b77 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -441,6 +441,13 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t); + /* fall back to RTL when no RCL activity was set and in manual mode */ + } else if (status->rc_signal_lost && is_armed) { + enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); + + set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_actions_t::AUTO_RTL, param_com_rcl_act_t); + + } else { switch (internal_state->main_state) { case commander_state_s::MAIN_STATE_ACRO: