ekf_check: upon clearing EKF failsafe, do not automatically revert to…

… LOITER if in a battery failsafe
3drobotics · Oct 6, 2016 · dc68bb6 · dc68bb6
1 parent b3d46d4
commit dc68bb6
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/ArduCopter/ekf_check.pde b/ArduCopter/ekf_check.pde
@@ -182,7 +182,9 @@ static void failsafe_ekf_off_event(void)
             if (failsafe.gps_glitch) {
                 gps_glitch_switch_mode_on_resolve = true;
             } else {
-                set_mode(LOITER);
+                if (!failsafe.battery) {
+                    set_mode(LOITER);
+                }
             }
         }
     }