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Add turtle mode function

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This commit is contained in:
breadoven 2023-02-22 23:14:39 +00:00
parent 36caed01ab
commit 9871c6edee
5 changed files with 29 additions and 12 deletions
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4
src/main/navigation/navigation.c
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@ -1313,7 +1313,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigatio
if (posControl.flags.estPosStatus >= EST_USABLE) {
const int32_t distFromStartTrackback = calculateDistanceToDestination(&posControl.rthTBPointsList[posControl.rthTBLastSavedIndex]) / 100;
const bool cancelTrackback = distFromStartTrackback > navConfig()->general.rth_trackback_distance ||
((rthAltControlStickOverrideCheck(ROLL) || MULTI_FUNC_FLAG(SUSPEND_TRACKBACK)) && !posControl.flags.forcedRTHActivated);
((rthAltControlStickOverrideCheck(ROLL) || MULTI_FUNC_FLAG(MF_SUSPEND_TRACKBACK)) && !posControl.flags.forcedRTHActivated);
if (posControl.activeRthTBPointIndex < 0 || cancelTrackback) {
posControl.rthTBWrapAroundCounter = posControl.activeRthTBPointIndex = -1;
@ -2460,7 +2460,7 @@ static navigationHomeFlags_t navigationActualStateHomeValidity(void)
void checkSafeHomeState(bool shouldBeEnabled)
{
const bool safehomeNotApplicable = navConfig()->general.flags.safehome_usage_mode == SAFEHOME_USAGE_OFF ||
(MULTI_FUNC_FLAG(SUSPEND_SAFEHOMES) && !posControl.flags.forcedRTHActivated) ||
(MULTI_FUNC_FLAG(MF_SUSPEND_SAFEHOMES) && !posControl.flags.forcedRTHActivated) ||
posControl.flags.rthTrackbackActive ||
(!posControl.safehomeState.isApplied && posControl.homeDistance < navConfig()->general.min_rth_distance);