From ad51c767bc5ba3e911227746f1636401baa37ca3 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Fri, 13 Nov 2015 12:06:37 -0800
Subject: [PATCH] Copter: don't take any action on Solo button press events if
 there is a radio failsafe

---
 ArduCopter/GCS_Mavlink.pde | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index b6dcfdd877..0575757a92 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1487,6 +1487,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_SOLO_BTN_FLY_CLICK: {
             result = MAV_RESULT_ACCEPTED;
 
+            // don't do anything if there is a radio failsafe
+            if (failsafe.radio) {
+                break;
+            }
+
             if (set_mode(LOITER)) {
                 send_heartbeat_immediately = true;
             } else if (set_mode(ALT_HOLD)) {
@@ -1498,6 +1503,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_SOLO_BTN_FLY_HOLD: {
             result = MAV_RESULT_ACCEPTED;
 
+            // don't do anything if there is a radio failsafe
+            if (failsafe.radio) {
+                break;
+            }
+
             if (!motors.armed()) {
                 init_arm_motors(true);
             } else if (ap.land_complete) {
@@ -1516,6 +1526,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
             result = MAV_RESULT_ACCEPTED;
 
+            // don't do anything if there is a radio failsafe
+            if (failsafe.radio) {
+                break;
+            }
+
             if (motors.armed()) {
                 if (ap.land_complete) {
                     // if landed, disarm motors