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Merge pull request #6291 from s0up/gps_rescue 

[GPS RESCUE] - disable immediate re-arming on land/abort for gps rescue
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Michael Keller 2018-07-06 19:33:05 +12:00 committed by GitHub
parent 521ab88d5c 90b9b649d0
commit f3fa519e6b
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1 changed files with 2 additions and 0 deletions
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src/main/flight/gps_rescue.c
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@ -172,6 +172,7 @@ void updateGPSRescueState(void)
// If we are over 120% of average magnitude, just disarm since we're pretty much home
if (rescueState.sensor.accMagnitude > rescueState.sensor.accMagnitudeAvg * 1.5) {
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
disarm();
rescueState.phase = RESCUE_COMPLETE;
}
@ -186,6 +187,7 @@ void updateGPSRescueState(void)
rescueStop();
break;
case RESCUE_ABORT:
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
disarm();
rescueStop();
break;