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Disable HEADFREE flight mode when GPS Rescue is active

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The GPS Rescue flight control model doesn't work in HEADFREE mode.
This commit is contained in:
Bruce Luckcuck 2020-10-27 12:50:41 -04:00
parent ae62f46958
commit 9c575d9353
1 changed files with 2 additions and 2 deletions
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4
src/main/fc/core.c
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@ -1020,14 +1020,14 @@ bool processRx(timeUs_t currentTimeUs)
DISABLE_FLIGHT_MODE(MAG_MODE); DISABLE_FLIGHT_MODE(MAG_MODE);
} }
#endif #endif
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) { if (IS_RC_MODE_ACTIVE(BOXHEADFREE) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) { if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE); ENABLE_FLIGHT_MODE(HEADFREE_MODE);
} }
} else { } else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE); DISABLE_FLIGHT_MODE(HEADFREE_MODE);
} }
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) { if (IS_RC_MODE_ACTIVE(BOXHEADADJ) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
if (imuQuaternionHeadfreeOffsetSet()) { if (imuQuaternionHeadfreeOffsetSet()) {
beeper(BEEPER_RX_SET); beeper(BEEPER_RX_SET);
} }