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Code Issues Wiki Activity

Arm prevention if Rescue is activated

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This commit is contained in:
Tony Cabello 2018-11-29 05:45:20 +01:00
parent 8a4ea0785e
commit 84d2bc2c83
6 changed files with 135 additions and 11 deletions
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7
src/main/fc/core.c
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@ -282,6 +282,11 @@ void updateArmingStatus(void)
} else {
setArmingDisabled(ARMING_DISABLED_GPS);
}
if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE)) {
setArmingDisabled(ARMING_DISABLED_RESC);
} else {
unsetArmingDisabled(ARMING_DISABLED_RESC);
}
}
#endif
@ -828,7 +833,7 @@ bool processRx(timeUs_t currentTimeUs)
}
#ifdef USE_GPS_RESCUE
if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE)) {
if (ARMING_FLAG(ARMED) && (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE))) {
if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}