diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index e337a99328..083964b278 100755 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -1732,7 +1732,7 @@ void updateHomePosition(void) // If pilot so desires he may reset home position to current position if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) { - if (isHomeResetAllowed && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && posControl.flags.hasValidPositionSensor) { + if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && posControl.flags.hasValidPositionSensor) { const navSetWaypointFlags_t homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, homeUpdateFlags); isHomeResetAllowed = false; diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index debaa77cab..64cf08e4ae 100755 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -648,9 +648,9 @@ void handleSmartPortTelemetry(void) case FSSP_DATAID_ACCZ : smartPortSendPackage(id, 100 * acc.accADC[Z] / acc.dev.acc_1G); break; - case FSSP_DATAID_T1 : + case FSSP_DATAID_T1 : { - uint32_t tmpi = 10000; // start off with at least one digit so the most significant 0 won't be cut off + uint32_t tmpi = 0; // ones column if (!isArmingDisabled()) @@ -686,7 +686,9 @@ void handleSmartPortTelemetry(void) tmpi += 4000; // ten thousands column - if (ARMING_FLAG(ARMED) && IS_RC_MODE_ACTIVE(BOXHOMERESET) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE)) + if (FLIGHT_MODE(FLAPERON)) + tmpi += 10000; + if (FLIGHT_MODE(AUTO_TUNE)) tmpi += 20000; if (FLIGHT_MODE(FAILSAFE_MODE)) tmpi += 40000; @@ -710,8 +712,11 @@ void handleSmartPortTelemetry(void) tmpi += 1000; if (STATE(GPS_FIX_HOME)) tmpi += 2000; + if (ARMING_FLAG(ARMED) && IS_RC_MODE_ACTIVE(BOXHOMERESET) && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE)) + tmpi += 4000; smartPortSendPackage(id, tmpi); + #endif } else if (feature(FEATURE_GPS)) smartPortSendPackage(id, 0);