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Better separation between GPS and NAV

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This commit is contained in:
Martin Budden 2017-11-18 07:21:30 +00:00
parent 69ff72e2e9
commit cfc87d1891
17 changed files with 243 additions and 218 deletions
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4
src/main/fc/fc_core.c
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@ -553,7 +553,7 @@ void processRx(timeUs_t currentTimeUs)
}
#endif
#ifdef USE_GPS
#ifdef USE_NAV
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
@ -649,7 +649,7 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
processRcCommand();
#ifdef USE_GPS
#ifdef USE_NAV
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();