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cleanup

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This commit is contained in:
Tony Yeung 2021-02-23 00:35:27 +00:00
parent 3a599d9842
commit 3aa2edf5d7
1 changed files with 4 additions and 2 deletions
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6
src/main/navigation/navigation.c
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@ -77,7 +77,7 @@ fpVector3_t original_rth_home; // the original rth home - save it, sin
radar_pois_t radar_pois[RADAR_MAX_POIS];
#if defined(USE_SAFE_HOME)
int8_t safehome_index; // -1 if no safehome, 0 to MAX_SAFEHOMES -1 otherwise
int8_t safehome_index = -1; // -1 if no safehome, 0 to MAX_SAFEHOMES -1 otherwise
uint32_t safehome_distance = 0; // distance to the nearest safehome
fpVector3_t nearestSafeHome; // The nearestSafeHome found during arming
bool safehome_applied = false; // whether the safehome has been applied to home.
@ -2416,7 +2416,9 @@ void updateHomePosition(void)
}
if (setHome) {
#if defined(USE_SAFE_HOME)
findNearestSafeHome();
if (navConfig()->general.flags.safehome_usage_mode != SAFEHOME_USAGE_OFF) {
findNearestSafeHome();
}
#endif
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
// save the current location in case it is replaced by a safehome or HOME_RESET