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Code Issues Wiki Activity

Disable ALTHOLD on user motor stop request

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This commit is contained in:
Michel Pastor 2018-06-04 15:10:06 +02:00
parent 99f7b1daf2
commit f046554d97
4 changed files with 40 additions and 24 deletions
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3
src/main/navigation/navigation.c
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@ -41,6 +41,7 @@
#include "fc/runtime_config.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "io/beeper.h"
@ -2762,7 +2763,7 @@ rthState_e getStateOfForcedRTH(void)
bool navigationIsControllingThrottle(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND));
return ((stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND)) && (getMotorStatus() != MOTOR_STOPPED_USER));
}
bool navigationIsFlyingAutonomousMode(void)