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Merge pull request #9824 from iNavFlight/dzikuvx-no-longer-require-mag-for-pos-control

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No longer require MAG to unlock GPS related flight modes
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Paweł Spychalski 2024-04-02 19:05:03 +02:00 • committed by GitHub
commit 5d0c0dde63
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src/main/fc/fc_msp_box.c
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@ -219,9 +219,6 @@ void initActiveBoxIds(void)
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;
}
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
ADD_ACTIVE_BOX(BOXNAVPOSHOLD);