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Update navigation.c

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This commit is contained in:
breadoven 2020-11-17 22:10:27 +00:00
parent 8f2c2620ef
commit 011533be52
1 changed files with 17 additions and 17 deletions
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32
src/main/navigation/navigation.c
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@ -106,7 +106,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.rth_tail_first = 0, .rth_tail_first = 0,
.disarm_on_landing = 0, .disarm_on_landing = 0,
.rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS, .rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
.rth_alt_control_override = 0, //set using nav_rth_alt_control_override .rth_alt_control_override = 0, //Override the preset RTH altitude to the current altitude
.nav_overrides_motor_stop = NOMS_ALL_NAV, .nav_overrides_motor_stop = NOMS_ALL_NAV,
}, },
@ -2520,22 +2520,22 @@ static void overrideRTHAtitudePreset(void)
return; return;
} }
static timeMs_t PitchStickHoldStartTime; static timeMs_t PitchStickHoldStartTime;
if (rxGetChannelValue(PITCH) > 1900) { if (rxGetChannelValue(PITCH) > 1900) {
if (!PitchStickHoldStartTime) { if (!PitchStickHoldStartTime) {
PitchStickHoldStartTime = millis(); PitchStickHoldStartTime = millis();
} else { } else {
timeMs_t currentTime = millis(); timeMs_t currentTime = millis();
if (currentTime - PitchStickHoldStartTime > 1000 && !posControl.flags.forcedRTHActivated) { if (currentTime - PitchStickHoldStartTime > 1000 && !posControl.flags.forcedRTHActivated) {
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z; posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude; posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
} }
} }
} else { } else {
PitchStickHoldStartTime = 0; PitchStickHoldStartTime = 0;
} }
DEBUG_SET(DEBUG_CRUISE, 1, PitchStickHoldStartTime); DEBUG_SET(DEBUG_CRUISE, 1, PitchStickHoldStartTime);
} }
/*----------------------------------------------------------- /*-----------------------------------------------------------