From 263f68568329f60d5c062d33b8ff0e2674d8ec45 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 10 Oct 2016 17:35:55 +0900 Subject: [PATCH] Copter: ekf failsafe can trigger in LAND Thanks to John Ingersoll for the report and detailed fix Resolves issue #4827 --- ArduCopter/ekf_check.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp index 043a014458..ba29ce8dfe 100644 --- a/ArduCopter/ekf_check.cpp +++ b/ArduCopter/ekf_check.cpp @@ -129,7 +129,7 @@ void Copter::failsafe_ekf_event() } // do nothing if not in GPS flight mode and ekf-action is not land-even-stabilize - if (!mode_requires_GPS(control_mode) && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE)) { + if (!mode_requires_GPS(control_mode) && (control_mode != LAND) && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE)) { return; }