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Merge pull request #9432 from iNavFlight/release_7.0.0

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Release 7.0.0
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Paweł Spychalski 2023-12-06 15:36:20 +01:00 • committed by GitHub
commit 108aa4b10a
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143 changed files with 2774 additions and 246 deletions
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11
src/main/navigation/navigation.c
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@ -1227,6 +1227,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
{
UNUSED(previousState);
if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
posControl.rthState.rthLinearDescentActive = false;
if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || !STATE(GPS_FIX_HOME)) {
// Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
// Relevant to failsafe forced RTH only. Switched RTH blocked in selectNavEventFromBoxModeInput if sensors unavailable.
@ -1432,6 +1435,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
if (homeDistance <= METERS_TO_CENTIMETERS(navConfig()->general.rth_linear_descent_start_distance)) {
posControl.rthState.rthFinalAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
posControl.rthState.rthLinearDescentActive = true;
}
}
@ -1442,6 +1446,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
if (isWaypointReached(tmpHomePos, 0)) {
// Successfully reached position target - update XYZ-position
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
posControl.rthState.rthLinearDescentActive = false;
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
} else {
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_XY);
@ -4053,7 +4061,8 @@ bool navigationPositionEstimateIsHealthy(void)
navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
{
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE)));
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) ||
IS_RC_MODE_ACTIVE(BOXNAVCRUISE) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD));
if (usedBypass) {
*usedBypass = false;