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failsafe fixes

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This commit is contained in:
breadoven 2023-09-07 21:52:52 +01:00
parent eceabdb0de
commit f1afdf8715
3 changed files with 13 additions and 9 deletions
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4
src/main/navigation/navigation.c
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@ -1806,8 +1806,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINIS
{
UNUSED(previousState);
disarm(DISARM_NAVIGATION);
return NAV_FSM_EVENT_NONE;
}
@ -2840,7 +2838,7 @@ void updateLandingStatus(timeMs_t currentTimeMs)
}
} else if (STATE(LANDING_DETECTED)) {
pidResetErrorAccumulators();
if (navConfig()->general.flags.disarm_on_landing) {
if (navConfig()->general.flags.disarm_on_landing && !FLIGHT_MODE(FAILSAFE_MODE)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
disarm(DISARM_LANDING);
} else if (!navigationInAutomaticThrottleMode()) {