From 741674c759e6d49def844a928a079a2bc8d87332 Mon Sep 17 00:00:00 2001 From: Bruce Luckcuck Date: Sat, 1 Feb 2020 10:30:23 -0500 Subject: [PATCH] Fix GPS Rescue altitude mode behavior Fixed unassigned variable controlling the altitude mode. Unassigned value was defaulting to 0 forcing `MAX_ALT` mode at all times instead of the user setting. --- src/main/flight/gps_rescue.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/flight/gps_rescue.c b/src/main/flight/gps_rescue.c index 3a61f25001..a96ade1fed 100644 --- a/src/main/flight/gps_rescue.c +++ b/src/main/flight/gps_rescue.c @@ -192,7 +192,6 @@ bool magForceDisable = false; static bool newGPSData = false; rescueState_s rescueState; -altitudeMode_e altitudeMode; throttle_s throttle; /* @@ -602,16 +601,17 @@ void updateGPSRescueState(void) newDescentDistanceM = gpsRescueConfig()->descentDistanceM; } - switch (altitudeMode) { - case MAX_ALT: - newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500); - break; + switch (gpsRescueConfig()->altitudeMode) { case FIXED_ALT: newAltitude = gpsRescueConfig()->initialAltitudeM * 100; break; case CURRENT_ALT: newAltitude = rescueState.sensor.currentAltitudeCm; break; + case MAX_ALT: + default: + newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500); + break; } //Calculate angular coefficient and offset for equation of line from 2 points needed for RESCUE_LANDING_APPROACH