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state_machine_helper: orbit failsafe just with data link loss

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RC is like the comment says not required.
This commit is contained in:
Matthias Grob
2021-01-07 13:31:05 +01:00
committed by Julian Kent
parent 6b8fa417e1
commit f435bea57c
1 changed files with 2 additions and 2 deletions
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src/modules/commander/state_machine_helper.cpp
+2 -2
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@@ -616,8 +616,8 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
// is not possible and therefore the internal_state needs to be adjusted. // is not possible and therefore the internal_state needs to be adjusted.
internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL; internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL;
} else if (rc_lost && !data_link_loss_act_configured && is_armed) { } else if (rc_lost && status->data_link_lost && !data_link_loss_act_configured && is_armed) {
// failsafe: RC is lost, datalink loss is not set up and rc loss is not disabled // Orbit does not depend on RC but while armed & all links lost & when datalink loss is not set up, we failsafe
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act); set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);