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Revert "Revert "Merge pull request #8012 from iNavFlight/dzikuvx-require-acc-calibration-only-when-needed""

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This reverts commit 3a379a7cb1.
This commit is contained in:
Pawel Spychalski (DzikuVx) 2022-06-23 10:33:27 +02:00
parent b0e6e20331
commit 6688e00a24
1 changed files with 20 additions and 1 deletions
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21
src/main/fc/fc_core.c
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@ -265,7 +265,26 @@ static void updateArmingStatus(void)
#endif
/* CHECK: */
if (sensors(SENSOR_ACC) && !STATE(ACCELEROMETER_CALIBRATED)) {
if (
sensors(SENSOR_ACC) &&
!STATE(ACCELEROMETER_CALIBRATED) &&
// Require ACC calibration only if any of the setting might require it
(
isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
isModeActivationConditionPresent(BOXNAVRTH) ||
isModeActivationConditionPresent(BOXNAVWP) ||
isModeActivationConditionPresent(BOXANGLE) ||
isModeActivationConditionPresent(BOXHORIZON) ||
isModeActivationConditionPresent(BOXNAVALTHOLD) ||
isModeActivationConditionPresent(BOXHEADINGHOLD) ||
isModeActivationConditionPresent(BOXNAVLAUNCH) ||
isModeActivationConditionPresent(BOXTURNASSIST) ||
isModeActivationConditionPresent(BOXNAVCOURSEHOLD) ||
isModeActivationConditionPresent(BOXSOARING) ||
failsafeConfig()->failsafe_procedure != FAILSAFE_PROCEDURE_DROP_IT
)
) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED);
}
else {