[NAV/MIXER] Refactor getMotorStop() code for better readability#6305
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digitalentity merged 1 commit intomasterfrom Nov 16, 2020
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[NAV/MIXER] Refactor getMotorStop() code for better readability#6305digitalentity merged 1 commit intomasterfrom
digitalentity merged 1 commit intomasterfrom
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…hen nav_overrides_motor_stop is set to NOMS_ALL_NAV
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Fix confirmed on the platform where it was originally revealed. |
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Due to a multi-level logic condition in
getMotorStop()we missed the fact that in certain configurationgetMotorStop()andnavigationIsControllingThrottle()could call each other in an infinite loop causing a crash when entering a navigation mode that controls throttle.Logic is now changed by creating a separate function
navigationInAutomaticThrottleMode()to probe if our Navigation core is in mode that may be controlling throttle, provided mixer allows that.navigationIsControllingThrottle()now correctly evaluates if the Navigation core is indeed in control of motor throttle.Fixes #6296