Merge pull request #6392 from s0up/rescue-disarm-fix

Fix rescue early disarm when sanity checks are on
betaflight · Jul 19, 2018 · d33ac80 · d33ac80
1 parent be8cf14
commit d33ac80
Showing 1 changed file with 14 additions and 6 deletions.
diff --git a/src/main/flight/gps_rescue.c b/src/main/flight/gps_rescue.c
@@ -71,7 +71,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
     .throttleMin = 1200,
     .throttleMax = 1600,
     .throttleHover = 1280,
-    .sanityChecks = 0,
+    .sanityChecks = RESCUE_SANITY_ON,
     .minSats = 8
 );
 
@@ -123,6 +123,19 @@ void updateGPSRescueState(void)
             hoverThrottle = gpsRescueConfig()->throttleHover;
         }
 
+        // Minimum distance detection (100m).  Disarm regardless of sanity check configuration.  Rescue too close is never a good idea.
+        if (rescueState.sensor.distanceToHome < 100) {
+            // Never allow rescue mode to engage as a failsafe within 100 meters or when disarmed.
+            if (rescueState.isFailsafe || !ARMING_FLAG(ARMED)) {
+                rescueState.failure = RESCUE_TOO_CLOSE;
+                setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
+                disarm();
+            } else {
+                // Leave it up to the sanity check setting
+                rescueState.failure = RESCUE_TOO_CLOSE;
+            }
+        }
+
         rescueState.phase = RESCUE_ATTAIN_ALT;
         FALLTHROUGH;
     case RESCUE_ATTAIN_ALT:
@@ -284,11 +297,6 @@ void performSanityChecks()
     if (msI == 5) {
         rescueState.failure = RESCUE_FLYAWAY;
     }
-
-    // Minimum distance detection (100m)
-    if (rescueState.sensor.distanceToHome < 100) {
-        rescueState.failure = RESCUE_TOO_CLOSE;
-    }
 }
 
 void rescueStart()