Merge pull request #9435 from breadoven/abo_mc_nav_arm_safety_fix

Multirotor arming safety course hold/cruise mode fix
iNavFlight · Nov 2, 2023 · 24c24c4 · 24c24c4
2 parents fdb61d3 + fac64ce
commit 24c24c4
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -4055,7 +4055,8 @@ bool navigationPositionEstimateIsHealthy(void)
 
 navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
 {
-    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE)));
+    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) ||
+    IS_RC_MODE_ACTIVE(BOXNAVCRUISE) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD));
 
     if (usedBypass) {
         *usedBypass = false;