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First build

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This commit is contained in:
breadoven 2021-03-10 13:46:45 +00:00
parent ee06203151
commit 88a4ceb1aa
4 changed files with 21 additions and 9 deletions
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7
src/main/navigation/navigation.c
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@ -3149,7 +3149,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
// Pilot-triggered RTH, also fall-back for WP if there is no mission loaded
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || (IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint)) {
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
// If don't keep this, loss of any of the canActivatePosHold && canActivateNavigation && canActivateAltHold
// will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
@ -3570,6 +3570,11 @@ rthState_e getStateOfForcedRTH(void)
}
}
bool isWaypointMissionRTHActive(void)
{
return FLIGHT_MODE(NAV_RTH_MODE) && IS_RC_MODE_ACTIVE(BOXNAVWP) && !(IS_RC_MODE_ACTIVE(BOXNAVRTH) || posControl.flags.forcedRTHActivated);
}
bool navigationIsExecutingAnEmergencyLanding(void)
{
return navGetCurrentStateFlags() & NAV_CTL_EMERG;