navigator: RTL on failsafe bug fixed

11 years ago · 062b64a1e2
1 changed files with 3 additions and 1 deletions
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@ -729,7 +729,9 @@ Navigator::task_main()
				@@ -729,7 +729,9 @@ Navigator::task_main()

 				} else if (_vstatus.failsafe_state == FAILSAFE_STATE_RTL) {
 					/* RTL on failsafe */
-					dispatch(EVENT_RTL_REQUESTED);
+					if (myState != NAV_STATE_READY || _rtl_state != RTL_STATE_LAND) {
+						dispatch(EVENT_RTL_REQUESTED);
+					}

 				} else {
 					/* shouldn't act */