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Code Issues Wiki Activity

fix disarm logic

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This commit is contained in:
s0up 2018-07-17 11:55:42 -07:00
parent ee0113ffff
commit 4b5972629e
1 changed files with 7 additions and 5 deletions
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12
src/main/flight/gps_rescue.c
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@ -123,6 +123,13 @@ void updateGPSRescueState(void)
hoverThrottle = gpsRescueConfig()->throttleHover; hoverThrottle = gpsRescueConfig()->throttleHover;
} }
// Minimum distance detection (100m). Disarm regardless of sanity check configuration. Rescue too close is never a good idea.
if (rescueState.sensor.distanceToHome < 100) {
rescueState.failure = RESCUE_TOO_CLOSE;
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
disarm();
}
rescueState.phase = RESCUE_ATTAIN_ALT; rescueState.phase = RESCUE_ATTAIN_ALT;
FALLTHROUGH; FALLTHROUGH;
case RESCUE_ATTAIN_ALT: case RESCUE_ATTAIN_ALT:
@ -284,11 +291,6 @@ void performSanityChecks()
if (msI == 5) { if (msI == 5) {
rescueState.failure = RESCUE_FLYAWAY; rescueState.failure = RESCUE_FLYAWAY;
} }
// Minimum distance detection (100m)
if (rescueState.sensor.distanceToHome < 100) {
rescueState.failure = RESCUE_TOO_CLOSE;
}
} }
void rescueStart() void rescueStart()