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Merge pull request #6318 from dragnea/autolaunch_no_control_during_finish

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No control during Autolaunch FINISHING sequence
This commit is contained in:
Konstantin Sharlaimov 2020-11-19 09:09:07 +01:00 • committed by GitHub
commit 02e1fb8d13
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 9 additions and 4 deletions
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13
src/main/navigation/navigation_fw_launch.c
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@ -170,13 +170,15 @@ static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE
.onEntry = fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS,
.onEvent = {
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_FINISH,
[FW_LAUNCH_EVENT_ABORT] = FW_LAUNCH_STATE_IDLE
},
.messageType = FW_LAUNCH_MESSAGE_TYPE_IN_PROGRESS
},
[FW_LAUNCH_STATE_FINISH] = {
.onEntry = fwLaunchState_FW_LAUNCH_STATE_FINISH,
.onEvent = {
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE,
[FW_LAUNCH_EVENT_ABORT] = FW_LAUNCH_STATE_IDLE
},
.messageType = FW_LAUNCH_MESSAGE_TYPE_FINISHING
}
@ -344,10 +346,10 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_SPINUP(timeUs_
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS(timeUs_t currentTimeUs) {
rcCommand[THROTTLE] = navConfig()->fw.launch_throttle;
if (isLaunchMaxAltitudeReached()) {
return FW_LAUNCH_EVENT_SUCCESS; // cancel the launch and do the FW_LAUNCH_STATE_FINISH state
}
if (areSticksMoved(navConfig()->fw.launch_motor_timer + navConfig()->fw.launch_motor_spinup_time, currentTimeUs)) {
return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_IDLE state
}
if (isLaunchMaxAltitudeReached()) {
return FW_LAUNCH_EVENT_SUCCESS; // cancel the launch and do the FW_LAUNCH_STATE_FINISH state
}
if (currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_timeout) {
@ -361,6 +363,9 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs);
const timeMs_t endTimeMs = navConfig()->fw.launch_end_time;
if (areSticksDeflectedMoreThanPosHoldDeadband()) {
return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_IDLE state
}
if (elapsedTimeMs > endTimeMs) {
return FW_LAUNCH_EVENT_SUCCESS;
} else {