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Advertise NAV modes through MSP even when mag is powered off (MR) #2984

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merged 1 commit into from Jun 20, 2018
Merged

Advertise NAV modes through MSP even when mag is powered off (MR) #2984

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2 changes: 1 addition & 1 deletion src/main/fc/fc_msp_box.c
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Expand Up @@ -183,7 +183,7 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}

const bool navReadyQuads = !STATE(FIXED_WING) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navReadyQuads = !STATE(FIXED_WING) && (getHwCompassStatus() != HW_SENSOR_NONE) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navReadyPlanes = STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (navFlowDeadReckoning || navReadyQuads || navReadyPlanes) {
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