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Protection from activating RTH w/o altitude sensor

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-03-13 23:48:30 +10:00
parent 7ce1872b25
commit b38d6e3148
1 changed files with 3 additions and 3 deletions
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6
src/main/navigation/navigation.c
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@ -787,8 +787,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
{
navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
if (!posControl.flags.hasValidHeadingSensor || !STATE(GPS_FIX_HOME)) {
// Heading sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
if (!posControl.flags.hasValidHeadingSensor || !posControl.flags.hasValidAltitudeSensor || !STATE(GPS_FIX_HOME)) {
// Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
@ -2345,7 +2345,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
// RTH/Failsafe_RTH can override PASSTHRU
if (posControl.flags.forcedRTHActivated || (IS_RC_MODE_ACTIVE(BOXNAVRTH) && canActivatePosHold && STATE(GPS_FIX_HOME))) {
if (posControl.flags.forcedRTHActivated || (IS_RC_MODE_ACTIVE(BOXNAVRTH) && canActivatePosHold && canActivateAltHold && STATE(GPS_FIX_HOME))) {
// If we request forced RTH - attempt to activate it no matter what
// This might switch to emergency landing controller if GPS is unavailable
canActivateWaypoint = false; // Block WP mode if we switched to RTH for whatever reason