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| 45 | // --------------------------------------------------------------------------------- |
45 | // --------------------------------------------------------------------------------- |
| 46 | void navi_updateFlightMode(void) { |
46 | void navi_updateFlightMode(void) { |
| Line 47... | Line 47... | ||
| 47 | static FlightMode_t flightModeOld = GPS_FLIGHT_MODE_UNDEF; |
47 | static FlightMode_t flightModeOld = GPS_FLIGHT_MODE_UNDEF; |
| 48 | - | ||
| 49 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD |
48 | |
| 50 | || MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
49 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD || (MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
| 51 | flightMode = GPS_FLIGHT_MODE_HOME; |
50 | flightMode = GPS_FLIGHT_MODE_HOME; |
| 52 | } else { |
51 | } else { |
| 53 | if (dynamicParams.naviMode < 50) |
52 | if (dynamicParams.naviMode < 50) |
| 54 | flightMode = GPS_FLIGHT_MODE_HOME; |
53 | flightMode = GPS_FLIGHT_MODE_FREE; |
| 55 | else if (dynamicParams.naviMode < 180) |
54 | else if (dynamicParams.naviMode < 180) |
| 56 | flightMode = GPS_FLIGHT_MODE_AID; |
55 | flightMode = GPS_FLIGHT_MODE_AID; |
| 57 | else |
56 | else |
| Line 58... | Line 57... | ||
| 58 | flightMode = GPS_FLIGHT_MODE_FREE; |
57 | flightMode = GPS_FLIGHT_MODE_HOME; |
| 59 | } |
58 | } |
| 60 | 59 | ||