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Merge pull request #3303 from giacomo892/nav_launch_safety_fix

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NAV_LAUNCH extra safety
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Konstantin Sharlaimov 2018-06-02 19:21:56 +02:00 • committed by GitHub
commit e28f7fac55
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1 changed files with 6 additions and 2 deletions
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8
src/main/navigation/navigation.c
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@ -2350,9 +2350,13 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
} }
} }
else { else {
// If we were in LAUNCH mode - force switch to IDLE // If we were in LAUNCH mode - force switch to IDLE only if the throttle is low
if (FLIGHT_MODE(NAV_LAUNCH_MODE)) { if (FLIGHT_MODE(NAV_LAUNCH_MODE)) {
return NAV_FSM_EVENT_SWITCH_TO_IDLE; throttleStatus_e throttleStatus = calculateThrottleStatus();
if (throttleStatus != THROTTLE_LOW)
return NAV_FSM_EVENT_NONE;
else
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
} }
} }
} }