From 95e80cc29b54de7b3728f910dc8841e78d76d9a9 Mon Sep 17 00:00:00 2001 From: sander Date: Thu, 4 Aug 2016 11:08:07 +0200 Subject: [PATCH] Only RTL when mission finishes mid air on DL Lost --- src/modules/commander/state_machine_helper.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 1ebf522340..964d1abc5a 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -746,9 +746,9 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in /* datalink loss disabled: * check if both, RC and datalink are lost during the mission - * or RC is lost after the mission is finished: this should always trigger RCRECOVER */ + * or RC is lost after the mission finishes in air: this should always trigger RCRECOVER */ } else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) || - (status->rc_signal_lost && mission_finished))) { + (status->rc_signal_lost && !landed && mission_finished))) { status->failsafe = true; if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {