From a563092742b1d5c635d173424e065730a570fc68 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Sun, 13 Jan 2019 13:33:15 +0100
Subject: [PATCH] mc_pos_control: add Loiter/Hold mode to possible failsafe
 commands

---
 src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 25e861d25b..a7aa08b64f 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1306,6 +1306,11 @@ void MulticopterPositionControl::send_vehicle_cmd_do(uint8_t nav_state)
 		command.param2 = (float)PX4_CUSTOM_MAIN_MODE_ALTCTL;
 		break;
 
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
+		command.param2 = (float)PX4_CUSTOM_MAIN_MODE_AUTO;
+		command.param3 = (float)PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
+		break;
+
 	default: //vehicle_status_s::NAVIGATION_STATE_POSCTL
 		command.param2 = (float)PX4_CUSTOM_MAIN_MODE_POSCTL;
 		break;
-- 
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