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initiate roll smoothly and only once flying straight home

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This commit is contained in:
ctzsnooze 2022-09-14 17:55:58 +10:00
parent 3498d7e8bf
commit da02aff97e
1 changed files with 4 additions and 2 deletions
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6
src/main/flight/gps_rescue.c
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@ -797,7 +797,6 @@ void updateGPSRescueState(void)
// once , gradually increase target velocity and roll angle // once , gradually increase target velocity and roll angle
rescueState.intent.targetVelocityCmS = gpsRescueConfig()->rescueGroundspeed * angleToHome; rescueState.intent.targetVelocityCmS = gpsRescueConfig()->rescueGroundspeed * angleToHome;
rescueState.intent.pitchAngleLimitDeg = gpsRescueConfig()->angle * angleToHome; rescueState.intent.pitchAngleLimitDeg = gpsRescueConfig()->angle * angleToHome;
rescueState.intent.rollAngleLimitDeg = gpsRescueConfig()->angle * angleToHome;
if (rescueState.sensor.absErrorAngle < 10.0f) { if (rescueState.sensor.absErrorAngle < 10.0f) {
// enter fly home phase with full forward velocity target and full angle values // enter fly home phase with full forward velocity target and full angle values
rescueState.phase = RESCUE_FLY_HOME; rescueState.phase = RESCUE_FLY_HOME;
@ -805,13 +804,16 @@ void updateGPSRescueState(void)
rescueState.intent.yawAttenuator = 1.0f; rescueState.intent.yawAttenuator = 1.0f;
rescueState.intent.targetVelocityCmS = gpsRescueConfig()->rescueGroundspeed; rescueState.intent.targetVelocityCmS = gpsRescueConfig()->rescueGroundspeed;
rescueState.intent.pitchAngleLimitDeg = gpsRescueConfig()->angle; rescueState.intent.pitchAngleLimitDeg = gpsRescueConfig()->angle;
rescueState.intent.rollAngleLimitDeg = gpsRescueConfig()->angle;
} }
} }
break; break;
case RESCUE_FLY_HOME: case RESCUE_FLY_HOME:
// fly home with full control on all axes, pitching forward to gain speed // fly home with full control on all axes, pitching forward to gain speed
// gradually open up the roll limits up as we get underway
if (rescueState.intent.rollAngleLimitDeg < gpsRescueConfig()->angle) {
rescueState.intent.rollAngleLimitDeg += 0.05f;
}
if (newGPSData) { if (newGPSData) {
if (rescueState.sensor.distanceToHomeM <= rescueState.intent.descentDistanceM) { if (rescueState.sensor.distanceToHomeM <= rescueState.intent.descentDistanceM) {
rescueState.phase = RESCUE_DESCENT; rescueState.phase = RESCUE_DESCENT;