Fix: the wrong ability to turn on HORIZON_MODE without ACC sensors (b…

…etaflight#13892) added check of acc sensor enabled condition by turn on horizon mode
haslinghuis · Sep 16, 2024 · 654d18c · 654d18c
1 parent f71170d
commit 654d18c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
@@ -1007,7 +1007,7 @@ void processRxModes(timeUs_t currentTimeUs)
     }
 #endif
 
-    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
+    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode && sensors(SENSOR_ACC)) {
         DISABLE_FLIGHT_MODE(ANGLE_MODE);
         if (!FLIGHT_MODE(HORIZON_MODE)) {
             ENABLE_FLIGHT_MODE(HORIZON_MODE);