From 680bf8b4245e34e41ce0606a5598e109bc4159e8 Mon Sep 17 00:00:00 2001 From: giacomo892 Date: Thu, 31 May 2018 17:19:01 +0200 Subject: [PATCH] Disable arming in AH for FW unless launch mode is enabled --- src/main/navigation/navigation.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index a9000fe9203..e1fffc919b6 100755 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -2435,8 +2435,8 @@ 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)