From 6700edb16786aca0799ca3f70bfda4728d11f618 Mon Sep 17 00:00:00 2001
From: Nick Speal <nick@speal.ca>
Date: Wed, 23 Aug 2017 11:55:41 -0700
Subject: [PATCH] If changing mode to LOITER fails, fallback to ALT_HOLD

---
 ArduCopter/flight_mode.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde
index 722466934f..3297f11953 100644
--- a/ArduCopter/flight_mode.pde
+++ b/ArduCopter/flight_mode.pde
@@ -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: