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Code Issues Wiki Activity

Rename MAG mode to HEADING LOCK mode; Allow to operate without compass

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-03-19 16:07:54 +10:00
parent 4f4bdbb976
commit 0e4833f41e
17 changed files with 88 additions and 93 deletions
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4
src/main/navigation/navigation_fixedwing.c
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@ -300,7 +300,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
// Update magHold heading lock in case pilot is using MAG mode (prevent MAGHOLD to fight navigation)
posControl.desiredState.yaw = wrap_36000(posControl.actualState.yaw + headingError);
updateMagHoldHeading(CENTIDEGREES_TO_DEGREES(posControl.desiredState.yaw));
updateHeadingHoldTarget(CENTIDEGREES_TO_DEGREES(posControl.desiredState.yaw));
// Add pitch compensation
//posControl.rcAdjustment[PITCH] = -CENTIDEGREES_TO_DECIDEGREES(ABS(rollAdjustment)) * 0.50f;
@ -498,7 +498,7 @@ void calculateFixedWingInitialHoldPosition(t_fp_vector * pos)
void resetFixedWingHeadingController(void)
{
updateMagHoldHeading(CENTIDEGREES_TO_DEGREES(posControl.actualState.yaw));
updateHeadingHoldTarget(CENTIDEGREES_TO_DEGREES(posControl.actualState.yaw));
}
void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs)