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fixes

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This commit is contained in:
breadoven 2024-05-07 22:47:44 +01:00
parent 6d626acdb2
commit 01303686fd
2 changed files with 3 additions and 3 deletions
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4
src/main/navigation/navigation.c
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@ -1664,7 +1664,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LAN
if (!pauseLanding && ((ABS(wrap_18000(posControl.rthState.homePosition.heading - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY))) {
resetLandingDetector(); // force reset landing detector just in case
updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT);
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME; // success = land
} else {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
@ -1920,7 +1920,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
// Use linear climb between WPs arriving at WP altitude when within 10% of total distance to WP
// Update climb rate until within 100cm of total climb xy distance to WP, then hold constant
// Update climb rate until within 100cm of total climb xy distance to WP
float climbRate = 0.0f;
if (posControl.wpDistance - 0.1f * posControl.wpInitialDistance > 100.0f) {
climbRate = posControl.actualState.velXY * (posControl.activeWaypoint.pos.z - posControl.actualState.abs.pos.z) /