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Merge pull request #6204 from mikeller/fix_rearming_without_gps_fix 

Enabled rearming with 'GPS rescue' enabled and no GPS fix.
This commit is contained in:
Michael Keller 2018-06-24 21:29:36 +12:00 committed by GitHub
parent c208d57ac6 30b148c5c7
commit 1c081ae8c3
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 5 additions and 3 deletions
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8
src/main/fc/fc_core.c
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@ -257,10 +257,10 @@ void updateArmingStatus(void)
#ifdef USE_GPS_RESCUE
if (isModeActivationConditionPresent(BOXGPSRESCUE)) {
if (rescueState.sensor.numSat < gpsRescueConfig()->minSats) {
setArmingDisabled(ARMING_DISABLED_GPS);
} else {
if (!gpsRescueConfig()->minSats || STATE(GPS_FIX_HOME) || ARMING_FLAG(WAS_EVER_ARMED)) {
unsetArmingDisabled(ARMING_DISABLED_GPS);
} else {
setArmingDisabled(ARMING_DISABLED_GPS);
}
}
#endif
@ -758,6 +758,7 @@ bool processRx(timeUs_t currentTimeUs)
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
#ifdef USE_GPS_RESCUE
if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE)) {
if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
@ -765,6 +766,7 @@ bool processRx(timeUs_t currentTimeUs)
} else {
DISABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
#endif
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;