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Code Issues Wiki Activity

No longer require MAG to unlock GPS related flight modes

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Pawel Spychalski (DzikuVx) 2024-03-22 20:01:09 +01:00
parent 1efdfabeeb
commit f9d12a230a
1 changed files with 0 additions and 3 deletions
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3
src/main/fc/fc_msp_box.c
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@ -220,9 +220,6 @@ void initActiveBoxIds(void)
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning; const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS); bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
if (STATE(MULTIROTOR)) {
navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE;
}
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) { if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
ADD_ACTIVE_BOX(BOXNAVPOSHOLD); ADD_ACTIVE_BOX(BOXNAVPOSHOLD);