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Merge pull request #10309 from etracer65/gps_rescue_disable_headfree

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Disable HEADFREE flight mode when GPS Rescue is active
This commit is contained in:
Michael Keller 2020-10-30 05:56:42 +13:00
parent 7d853e8d45
commit 0f48043f53
1 changed files with 2 additions and 2 deletions
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4
src/main/fc/core.c
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@ -1019,14 +1019,14 @@ bool processRx(timeUs_t currentTimeUs)
DISABLE_FLIGHT_MODE(MAG_MODE);
}
#endif
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (IS_RC_MODE_ACTIVE(BOXHEADFREE) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
if (IS_RC_MODE_ACTIVE(BOXHEADADJ) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
if (imuQuaternionHeadfreeOffsetSet()) {
beeper(BEEPER_RX_SET);
}