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Merge pull request #6724 from breadoven/abo_fix_man_mode_WP_mission

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Ensure Manual mode activates during active WP mission
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Paweł Spychalski 2021-05-15 08:44:37 +02:00 • committed by GitHub
commit d93c443f6f
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2 changed files with 5 additions and 4 deletions
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7
src/main/navigation/navigation.c
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@ -3186,15 +3186,16 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
}
// RTH/Failsafe_RTH can override MANUAL
// Failsafe_RTH (can override MANUAL)
if (posControl.flags.forcedRTHActivated) {
// If we request forced RTH - attempt to activate it no matter what
// This might switch to emergency landing controller if GPS is unavailable
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}
// Pilot-triggered RTH, also fall-back for WP if there is no mission loaded
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || (IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint)) {
// Pilot-triggered RTH (can override MANUAL), also fall-back for WP if there is no mission loaded
// Prevent MANUAL falling back to RTH if selected during active mission (canActivateWaypoint is set false on MANUAL selection)
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || (IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint && !IS_RC_MODE_ACTIVE(BOXMANUAL))) {
// Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
// If don't keep this, loss of any of the canActivatePosHold && canActivateNavigation && canActivateAltHold
// will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back