From cd1ffa63cd666149e08b8ff0842a2a2d60627b5e Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 8 Dec 2020 18:26:03 -0500 Subject: [PATCH] commander: auto transition to LOITER if disarmed with no RC only requires a valid global position --- src/modules/commander/Commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index fdd90e9583..d660242903 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2383,7 +2383,7 @@ Commander::run() * we can as well just wait in a hold mode which enables tablet control. */ if (_status.rc_signal_lost && (_internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL) - && _status_flags.condition_home_position_valid) { + && _status_flags.condition_global_position_valid) { main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state); }