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Prevent runaway takeoff detection during GPS Rescue flight mode

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Addesses the possible edge case of runaway takeoff detection still being active and getting triggered by the quick yaw turn when GPS Rescue is activated.
This commit is contained in:
Bruce Luckcuck 2019-09-11 12:20:36 -04:00
parent 2a18209492
commit 7c52886b22
1 changed files with 1 additions and 0 deletions
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src/main/fc/core.c
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@ -1017,6 +1017,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashActive
&& !runawayTakeoffTemporarilyDisabled
&& !FLIGHT_MODE(GPS_RESCUE_MODE) // disable Runaway Takeoff triggering if GPS Rescue is active
&& (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (calculateThrottleStatus() != THROTTLE_LOW))) {
if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)