Merge pull request #6110 from codecae/gps_rescue_update_fix

Moved updateGPSRescueState to imuUpdateAttitude. gps_rescue.c tidy.

src/main/fc/fc_core.c

@@ -924,10 +924,6 @@ static FAST_CODE_NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
     }
 #endif
 
-#ifdef USE_GPS_RESCUE
-    updateGPSRescueState();
-#endif
-
 #ifdef USE_SDCARD
     afatfs_poll();
 #endif

src/main/flight/gps_rescue.c

@@ -182,6 +182,8 @@ void updateGPSRescueState(void)
             disarm();
             rescueStop();
             break;
+        default:
+            break;
     }
 
     performSanityChecks();

src/main/flight/imu.c

@@ -41,6 +41,7 @@
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
+#include "flight/gps_rescue.h"
 
 #include "io/gps.h"
 
@@ -521,6 +522,9 @@ void imuUpdateAttitude(timeUs_t currentTimeUs)
         acc.accADC[Y] = 0;
         acc.accADC[Z] = 0;
     }
+#ifdef USE_GPS_RESCUE
+    updateGPSRescueState();
+#endif
 }
 
 bool shouldInitializeGPSHeading()