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Better detection for THR control from the NAV system

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As requested by @digitalentity. Previous code was returning a
false positive on MC when only 2D position hold was active.
This commit is contained in:
Alberto García Hierro 2017-10-04 10:36:17 +01:00
parent 47fc453727
commit deb3385616
1 changed files with 2 additions and 1 deletions
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3
src/main/navigation/navigation.c
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@ -2695,7 +2695,8 @@ rthState_e getStateOfForcedRTH(void)
bool navigationIsControllingThrottle(void) bool navigationIsControllingThrottle(void)
{ {
return posControl.navState != NAV_STATE_IDLE; navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND)) || (STATE(FIXED_WING) && (stateFlags & (NAV_CTL_POS)));
} }
#else // NAV #else // NAV