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Merge remote-tracking branch 'upstream/master' into abo_mr_inverted_crash_detection

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breadoven 2024-06-18 13:41:17 +01:00
commit e8a9ecf762
53 changed files with 1309 additions and 355 deletions
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src/main/navigation/navigation.c
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@ -4438,7 +4438,7 @@ uint32_t distanceToFirstWP(void)
bool navigationPositionEstimateIsHealthy(void)
{
return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME);
return posControl.flags.estPosStatus >= EST_USABLE && posControl.flags.estAltStatus >= EST_USABLE && STATE(GPS_FIX_HOME);
}
navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)