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Code Issues Wiki Activity

Extra safety for NAV_LAUNCH if enabled via BOX

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giacomo892 2018-05-31 16:29:21 +02:00
parent 5c76229981
commit 05c5f0f866
1 changed files with 6 additions and 2 deletions
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8
src/main/navigation/navigation.c
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@ -2322,9 +2322,13 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
}
else {
// If we were in LAUNCH mode - force switch to IDLE
// If we were in LAUNCH mode - force switch to IDLE only if the throttle is low
if (FLIGHT_MODE(NAV_LAUNCH_MODE)) {
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
throttleStatus_e throttleStatus = calculateThrottleStatus();
if (throttleStatus != THROTTLE_LOW)
return NAV_FSM_EVENT_NONE;
else
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
}
}