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add sannity check in Platform specific RC modes, Add sanity check in mixer_profile switching

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This commit is contained in:
shota 2023-07-27 12:09:26 +09:00
parent a7e1aadc70
commit 167db6ec59
6 changed files with 14 additions and 9 deletions
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6
src/main/navigation/navigation.c
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@ -3789,14 +3789,14 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
// CRUISE has priority over COURSE_HOLD and AH
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE) && STATE(AIRPLANE)) {
if ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
// PH has priority over COURSE_HOLD
// CRUISE has priority on AH
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD)) {
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) && STATE(AIRPLANE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))) {
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
@ -4373,7 +4373,7 @@ bool navigationRTHAllowsLanding(void)
bool isNavLaunchEnabled(void)
{
return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH);
return (IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH)) && STATE(AIRPLANE);
}
bool abortLaunchAllowed(void)