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Don't use POS and YAW controller when landed.

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This commit is contained in:
Krzysztof Matula 2019-02-21 18:15:35 +01:00
parent 3701c67a4b
commit 03f1ab91bf
1 changed files with 1 additions and 1 deletions
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src/main/navigation/navigation.c
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@ -574,7 +574,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_FINISHED, .persistentId = NAV_PERSISTENT_ID_RTH_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHED, .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHED,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH, .stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LANDED, .mwState = MW_NAV_STATE_LANDED,
.mwError = MW_NAV_ERROR_NONE, .mwError = MW_NAV_ERROR_NONE,