From 9c575d9353e804f271f7e38bdd87e3e3c6bad62d Mon Sep 17 00:00:00 2001
From: Bruce Luckcuck <github@etracer.net>
Date: Tue, 27 Oct 2020 12:50:41 -0400
Subject: [PATCH] Disable HEADFREE flight mode when GPS Rescue is active The
 GPS Rescue flight control model doesn't work in HEADFREE mode.

---
 src/main/fc/core.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index aec994164b..41fb24efbe 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -1020,14 +1020,14 @@ 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);
             }