Prevent runaway takeoff detection during GPS Rescue flight mode (#8870)

Prevent runaway takeoff detection during GPS Rescue flight mode
betaflight · Sep 12, 2019 · a29ba5f · a29ba5f
2 parents 9db6072 + 7c52886
commit a29ba5f
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
@@ -1017,6 +1017,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
         && !runawayTakeoffCheckDisabled
         && !flipOverAfterCrashActive
         && !runawayTakeoffTemporarilyDisabled
+        && !FLIGHT_MODE(GPS_RESCUE_MODE)   // disable Runaway Takeoff triggering if GPS Rescue is active
         && (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (calculateThrottleStatus() != THROTTLE_LOW))) {
 
         if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)