Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-20 06:45:14 +03:00
Code Issues Wiki Activity

Update navigation.c

Browse source
This commit is contained in:
breadoven 2021-03-19 10:22:51 +00:00
parent 88a4ceb1aa
commit 66f477e04b
1 changed files with 3 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

5
src/main/navigation/navigation.c
View file

@ -3141,14 +3141,15 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
} }
} }
// RTH/Failsafe_RTH can override MANUAL // Failsafe_RTH (can override MANUAL)
if (posControl.flags.forcedRTHActivated) { if (posControl.flags.forcedRTHActivated) {
// If we request forced RTH - attempt to activate it no matter what // If we request forced RTH - attempt to activate it no matter what
// This might switch to emergency landing controller if GPS is unavailable // This might switch to emergency landing controller if GPS is unavailable
return NAV_FSM_EVENT_SWITCH_TO_RTH; return NAV_FSM_EVENT_SWITCH_TO_RTH;
} }
// Pilot-triggered RTH, also fall-back for WP if there is no mission loaded // Pilot-triggered RTH (can override MANUAL), also fall-back for WP if there is no mission loaded
// Prevent MANUAL falling back to RTH if selected during active mission (canActivateWaypoint is set false on MANUAL selection)
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || (IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint && !IS_RC_MODE_ACTIVE(BOXMANUAL))) { if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || (IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint && !IS_RC_MODE_ACTIVE(BOXMANUAL))) {
// Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss // Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
// If don't keep this, loss of any of the canActivatePosHold && canActivateNavigation && canActivateAltHold // If don't keep this, loss of any of the canActivatePosHold && canActivateNavigation && canActivateAltHold