From c9b19f20d133093fa778a85ef4adfbb216ac756b Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 13 Feb 2022 18:28:44 +0000
Subject: [PATCH] Update navigation.c

Cleaner method
---
 src/main/navigation/navigation.c | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index d2a4c512fe..94f162535d 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3135,14 +3135,9 @@ static void processNavigationRCAdjustments(void)
     }
 
     if (navStateFlags & NAV_RC_POS) {
-        if (!FLIGHT_MODE(FAILSAFE_MODE)) {
-            posControl.flags.isAdjustingPosition = adjustPositionFromRCInput();
-        }
-        else {
-            if (!STATE(FIXED_WING_LEGACY)) {
-                resetMulticopterBrakingMode();
-            }
-            posControl.flags.isAdjustingPosition = false;
+        posControl.flags.isAdjustingPosition = adjustPositionFromRCInput() && !FLIGHT_MODE(FAILSAFE_MODE);
+        if (STATE(MULTIROTOR) && FLIGHT_MODE(FAILSAFE_MODE)) {
+            resetMulticopterBrakingMode();
         }
     }
     else {