From abc6984430541e2bd4d5fc30755a3d5ea4349acb Mon Sep 17 00:00:00 2001
From: "Konstantin Sharlaimov (DigitalEntity)"
 <konstantin.sharlaimov@gmail.com>
Date: Sun, 13 Dec 2015 10:58:47 +1000
Subject: [PATCH] Fix for nav_extra_arming_safety

---
 src/main/flight/navigation_rewrite.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c
index 549eb40f5..fc79ad944 100755
--- a/src/main/flight/navigation_rewrite.c
+++ b/src/main/flight/navigation_rewrite.c
@@ -2012,7 +2012,7 @@ bool naivationBlockArming(void)
 
     // Apply extra arming safety only if pilot has any of GPS modes configured
     if (isUsingNavigationModes() || failsafeMayRequireNavigationMode()) {
-        return posControl.flags.hasValidPositionSensor && STATE(GPS_FIX_HOME);
+        return !(posControl.flags.hasValidPositionSensor && STATE(GPS_FIX_HOME));
     }
     else {
         return false;
-- 
2.11.4.GIT