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If changing mode to LOITER fails, fallback to ALT_HOLD #298

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If changing mode to LOITER fails, fallback to ALT_HOLD #298

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5 changes: 5 additions & 0 deletions ArduCopter/flight_mode.pde
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,11 @@ static bool set_mode(uint8_t mode)

case LOITER:
success = loiter_init(ignore_checks);
// If we cannot enter loiter mode for any reason (it happens to be because we don't have a good position estimate)
// Fallback to althold
if (!success) {
success = althold_init(ignore_checks);
}
break;

case GUIDED:
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