Prevent runaway takeoff detection during GPS Rescue flight mode (#8870)
Prevent runaway takeoff detection during GPS Rescue flight mode
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@ -1017,6 +1017,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
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&& !runawayTakeoffCheckDisabled
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&& !runawayTakeoffCheckDisabled
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&& !flipOverAfterCrashActive
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&& !flipOverAfterCrashActive
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&& !runawayTakeoffTemporarilyDisabled
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&& !runawayTakeoffTemporarilyDisabled
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&& !FLIGHT_MODE(GPS_RESCUE_MODE) // disable Runaway Takeoff triggering if GPS Rescue is active
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&& (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (calculateThrottleStatus() != THROTTLE_LOW))) {
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&& (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (calculateThrottleStatus() != THROTTLE_LOW))) {
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if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
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if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
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