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bug fixes

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This commit is contained in:
Tony Yeung 2021-02-24 22:40:44 +00:00
parent aba1790764
commit f5b62f0283
2 changed files with 6 additions and 1 deletions
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3
src/main/navigation/navigation.c
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@ -3133,7 +3133,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
const bool canActivatePosHold = canActivatePosHoldMode();
const bool canActivateNavigation = canActivateNavigationModes();
const bool isExecutingRTH = navGetStateFlags(posControl.navState) & NAV_AUTO_RTH;
checkSafeHomeState(isExecutingRTH);
checkSafeHomeState(isExecutingRTH || posControl.flags.forcedRTHActivated);
// Keep canActivateWaypoint flag at FALSE if there is no mission loaded
// Also block WP mission if we are executing RTH
@ -3567,6 +3567,7 @@ void activateForcedRTH(void)
{
abortFixedWingLaunch();
posControl.flags.forcedRTHActivated = true;
checkSafeHomeState(true);
navProcessFSMEvents(selectNavEventFromBoxModeInput());
}