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Correctly handle reversible motors in mixer
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9b146470a9
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11 changed files with 105 additions and 33 deletions
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@ -1552,7 +1552,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
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//allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle.
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if (feature(FEATURE_FW_LAUNCH)) {
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throttleStatus_e throttleStatus = calculateThrottleStatus();
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throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
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if ((throttleStatus == THROTTLE_LOW) && (areSticksDeflectedMoreThanPosHoldDeadband())) {
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abortFixedWingLaunch();
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return NAV_FSM_EVENT_SWITCH_TO_IDLE;
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@ -2909,7 +2909,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
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else {
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// If we were in LAUNCH mode - force switch to IDLE only if the throttle is low
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if (FLIGHT_MODE(NAV_LAUNCH_MODE)) {
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throttleStatus_e throttleStatus = calculateThrottleStatus();
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throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
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if (throttleStatus != THROTTLE_LOW)
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return NAV_FSM_EVENT_NONE;
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else
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