From 3f9215e8736ec09cb75b7100cd41ee492a63a61b Mon Sep 17 00:00:00 2001
From: Will Silva <will.silva@3drobotics.com>
Date: Thu, 6 Oct 2016 10:18:14 -0700
Subject: [PATCH] gps_glitch: upon clearing GPS glitch failsafe, do not
 automatically revert to LOITER if in a battery failsafe

---
 ArduCopter/gps_glitch.pde | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/gps_glitch.pde b/ArduCopter/gps_glitch.pde
index 338caef2ee..bd372cf7c0 100644
--- a/ArduCopter/gps_glitch.pde
+++ b/ArduCopter/gps_glitch.pde
@@ -32,7 +32,9 @@ static void gps_glitch_off_event() {
     Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GPS, ERROR_CODE_FAILSAFE_RESOLVED);
 
     if (gps_glitch_switch_mode_on_resolve) {
-        set_mode(LOITER);
+        if (!failsafe.battery) {
+            set_mode(LOITER);
+        }
         gps_glitch_switch_mode_on_resolve = false;
     }
 }
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