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Merge pull request #1873 from iNavFlight/de_failsafe_nav_fix

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Fix failsafe & navigation clash
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Konstantin Sharlaimov 2017-11-30 21:19:14 +10:00 • committed by GitHub
commit b9fe92e8a9
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5
src/main/navigation/navigation.c
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@ -2326,6 +2326,11 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
//We can switch modes only when ARMED
if (ARMING_FLAG(ARMED)) {
// Ask failsafe system if we can use navigation system
if (failsafeBypassNavigation()) {
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
// Flags if we can activate certain nav modes (check if we have required sensors and they provide valid data)
bool canActivateAltHold = canActivateAltHoldMode();
bool canActivatePosHold = canActivatePosHoldMode();