From a2a54c187727d7df68daeb2b0ae27d956b940ba7 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 14 Nov 2021 17:06:00 +0000
Subject: [PATCH] Update fc_msp_box.c

---
 src/main/fc/fc_msp_box.c | 77 ++++++++++++++++++++++++++----------------------
 1 file changed, 42 insertions(+), 35 deletions(-)

diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c
index a56b81715..34404a6fe 100644
--- a/src/main/fc/fc_msp_box.c
+++ b/src/main/fc/fc_msp_box.c
@@ -185,57 +185,64 @@ void initActiveBoxIds(void)
 
     activeBoxIds[activeBoxIdCount++] = BOXHEADINGHOLD;
 
-    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
-        activeBoxIds[activeBoxIdCount++] = BOXHEADFREE;
-        activeBoxIds[activeBoxIdCount++] = BOXHEADADJ;
-    }
-
-    if (STATE(ALTITUDE_CONTROL)) {
+    if (STATE(MULTIROTOR)) {
+        if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG))) {
+            activeBoxIds[activeBoxIdCount++] = BOXHEADFREE;
+            activeBoxIds[activeBoxIdCount++] = BOXHEADADJ;
+        }
+        if (sensors(SENSOR_BARO) && sensors(SENSOR_RANGEFINDER) && sensors(SENSOR_OPFLOW)) {
+            activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
+        }
         activeBoxIds[activeBoxIdCount++] = BOXFPVANGLEMIX;
     }
 
     //Camstab mode is enabled always
     activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
 
+    bool readyAltControl = false;
+    if (STATE(ALTITUDE_CONTROL) && sensors(SENSOR_BARO)) {
+        activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
+        readyAltControl = true;
 #ifdef USE_GPS
-    if (STATE(ALTITUDE_CONTROL) && (sensors(SENSOR_BARO) || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro)))) {
+    } else if ((feature(FEATURE_GPS) && STATE(AIRPLANE) && positionEstimationConfig()->use_gps_no_baro)) {
         activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
-        activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
+        readyAltControl = true;
     }
 
-    const bool navReadyMultirotor = STATE(MULTIROTOR) && (getHwCompassStatus() != HW_SENSOR_NONE) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
-    const bool navReadyOther = !STATE(MULTIROTOR) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
-    const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
-    if (navFlowDeadReckoning || navReadyMultirotor || navReadyOther) {
-        if (!STATE(ROVER) && !STATE(BOAT)) {
-            activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
-        }
-        if (STATE(AIRPLANE)) {
-            activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
+    if (readyAltControl) {
+        const bool navReadyMultirotor = STATE(MULTIROTOR) && (getHwCompassStatus() != HW_SENSOR_NONE) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
+        const bool navReadyOther = !STATE(MULTIROTOR) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
+        const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
+        if (navFlowDeadReckoning || navReadyMultirotor || navReadyOther) {
+            if (!STATE(ROVER) && !STATE(BOAT)) {
+                activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
+            }
+            if (STATE(AIRPLANE)) {
+                activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
+            }
         }
-    }
 
-    if (navReadyMultirotor || navReadyOther) {
-        activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
-        activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
-        activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
-        activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
-        activeBoxIds[activeBoxIdCount++] = BOXPLANWPMISSION;
-
-        if (STATE(AIRPLANE)) {
-            activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
-            activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
-            activeBoxIds[activeBoxIdCount++] = BOXSOARING;
+        if (navReadyMultirotor || navReadyOther) {
+            activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
+            activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
+            activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
+            activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
+            activeBoxIds[activeBoxIdCount++] = BOXPLANWPMISSION;
+
+            if (STATE(AIRPLANE)) {
+                activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
+                activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
+                activeBoxIds[activeBoxIdCount++] = BOXSOARING;
+            }
         }
-    }
 
 #ifdef USE_MR_BRAKING_MODE
-    if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
-        activeBoxIds[activeBoxIdCount++] = BOXBRAKING;
-    }
-#endif
-
+        if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
+            activeBoxIds[activeBoxIdCount++] = BOXBRAKING;
+        }
 #endif
+#endif  // GPS
+    }
 
     if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
         activeBoxIds[activeBoxIdCount++] = BOXMANUAL;
-- 
2.11.4.GIT