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Update navigation.c

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breadoven 2023-05-21 21:58:39 +01:00
parent ca2202ea54
commit fb8be51333
1 changed files with 1 additions and 0 deletions
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src/main/navigation/navigation.c
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@ -1722,6 +1722,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navi
timeMs_t currentTime = millis();
if (posControl.waypointList[posControl.activeWaypointIndex].p1 <= 0 ||
posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT ||
(posControl.wpReachedTime != 0 && currentTime - posControl.wpReachedTime >= (timeMs_t)posControl.waypointList[posControl.activeWaypointIndex].p1*1000L)) {
return NAV_FSM_EVENT_SUCCESS;
}