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Update fc_msp_box.c

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This commit is contained in:
breadoven 2021-12-24 23:43:33 +00:00
parent 9a48088952
commit 3a5a3c0ada
1 changed files with 4 additions and 11 deletions
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15
src/main/fc/fc_msp_box.c
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@ -199,20 +199,15 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXFPVANGLEMIX;
}
bool navReadyAltControl = false;
if (sensors(SENSOR_BARO)) {
navReadyAltControl = true;
}
bool navReadyAltControl = sensors(SENSOR_BARO);
#ifdef USE_GPS
if ((feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro))) {
navReadyAltControl = true;
}
navReadyAltControl = navReadyAltControl || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro));
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
if (STATE(MULTIROTOR)) {
navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE;
}
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
@ -228,12 +223,10 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
activeBoxIds[activeBoxIdCount++] = BOXPLANWPMISSION;
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
}
}
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
activeBoxIds[activeBoxIdCount++] = BOXSOARING;
}