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Make sure failsafe RTH is exited when failsafe condition ends #4166

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Merged
digitalentity merged 1 commit into from
Jan 7, 2019
Merged

Make sure failsafe RTH is exited when failsafe condition ends #4166

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4 changes: 3 additions & 1 deletion src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3180,8 +3180,10 @@ void activateForcedRTH(void)

void abortForcedRTH(void)
{
// Disable failsafe RTH and make sure we back out of navigation mode to IDLE
// If any navigation mode was active prior to RTH it will be re-enabled with next RX update
posControl.flags.forcedRTHActivated = false;
navProcessFSMEvents(selectNavEventFromBoxModeInput());
navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
}

rthState_e getStateOfForcedRTH(void)
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