Merge pull request #9067 from breadoven/abo_mr_wp_speed_alt_enforce_fix

Multirotor WP speed fix when altitude enforce enabled
iNavFlight · May 23, 2023 · 0d88429 · 0d88429
2 parents 5497e9d + fb8be51
commit 0d88429
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -1722,6 +1722,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navi
     timeMs_t currentTime = millis();
 
     if (posControl.waypointList[posControl.activeWaypointIndex].p1 <= 0 ||
+        posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT ||
         (posControl.wpReachedTime != 0 && currentTime - posControl.wpReachedTime >= (timeMs_t)posControl.waypointList[posControl.activeWaypointIndex].p1*1000L)) {
         return NAV_FSM_EVENT_SUCCESS;
     }