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Code Issues Wiki Activity

Correctly handle reversible motors in mixer

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-02-23 19:31:16 +01:00
parent 9b146470a9
commit 0ffcac2974
11 changed files with 105 additions and 33 deletions
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4
src/main/navigation/navigation.c
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@ -1552,7 +1552,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
//allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle.
if (feature(FEATURE_FW_LAUNCH)) {
throttleStatus_e throttleStatus = calculateThrottleStatus();
throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
if ((throttleStatus == THROTTLE_LOW) && (areSticksDeflectedMoreThanPosHoldDeadband())) {
abortFixedWingLaunch();
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
@ -2909,7 +2909,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
else {
// If we were in LAUNCH mode - force switch to IDLE only if the throttle is low
if (FLIGHT_MODE(NAV_LAUNCH_MODE)) {
throttleStatus_e throttleStatus = calculateThrottleStatus();
throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
if (throttleStatus != THROTTLE_LOW)
return NAV_FSM_EVENT_NONE;
else