Merge pull request #3304 from giacomo892/arming_checks_rework

Disable arming in AH for FW unless launch mode is enabled
iNavFlight · Jun 2, 2018 · ff60ce8 · ff60ce8
2 parents e28f7fa + 680bf8b
commit ff60ce8
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -2467,8 +2467,8 @@ bool navigationTerrainFollowingEnabled(void)
 
 bool navigationBlockArming(void)
 {
-    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD);
-    const bool navLaunchComboModesEnabled = isNavLaunchEnabled() && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP));
+    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD));
+    const bool navLaunchComboModesEnabled = isNavLaunchEnabled() && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVALTHOLD));
     bool shouldBlockArming = false;
 
     if (!navConfig()->general.flags.extra_arming_safety)