Merge pull request #9380 from breadoven/abo_mc_cruisemode_fix

Multirotor coursehold/cruise mode fix
iNavFlight · Oct 19, 2023 · 75bbadb · 75bbadb
2 parents f24d6cf + 5e608b7
commit 75bbadb
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -949,7 +949,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
         }
     },
-    
+
     /** MIXER AUTOMATED TRANSITION mode, alternated althod ***************************************************/
     [NAV_STATE_MIXERAT_INITIALIZE] = {
         .persistentId = NAV_PERSISTENT_ID_MIXERAT_INITIALIZE,
@@ -992,7 +992,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .onEvent = {
             [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
-            
+
         }
     },
 };
@@ -1514,7 +1514,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
     if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
-    
+
     if (checkMixerATRequired(MIXERAT_REQUEST_LAND)){
         return NAV_FSM_EVENT_SWITCH_TO_MIXERAT;
     }
@@ -3919,14 +3919,14 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         }
 
         // CRUISE has priority over COURSE_HOLD and AH
-        if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE) && STATE(AIRPLANE)) {
+        if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE)) {
             if ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))
                 return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
         }
 
         // PH has priority over COURSE_HOLD
         // CRUISE has priority on AH
-        if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) && STATE(AIRPLANE)) {
+        if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD)) {
             if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))) {
                 return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
             }