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Initial build

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This commit is contained in:
breadoven 2021-06-03 17:28:04 +01:00
parent 2fcb1cb83d
commit 11bc2a4648
5 changed files with 27 additions and 16 deletions
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19
src/main/navigation/navigation_fw_launch.c
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@ -111,6 +111,7 @@ typedef struct fixedWingLaunchData_s {
} fixedWingLaunchData_t;
static EXTENDED_FASTRAM fixedWingLaunchData_t fwLaunch;
static uint8_t launchStatus;
static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE_COUNT] = {
@ -262,6 +263,8 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE(timeUs_t curren
{
UNUSED(currentTimeUs);
launchStatus = launchStatus == FW_LAUNCH_FLYING ? FW_LAUNCH_END_SUCCESS : FW_LAUNCH_END_ABORT;
return FW_LAUNCH_EVENT_NONE;
}
@ -269,6 +272,8 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
{
UNUSED(currentTimeUs);
launchStatus = FW_LAUNCH_START;
if (!isThrottleLow()) {
if (isThrottleIdleEnabled()) {
return FW_LAUNCH_EVENT_SUCCESS;
@ -336,6 +341,9 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeU
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_DETECTED(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
launchStatus = FW_LAUNCH_DETECTED;
// waiting for the navigation to move it to next step FW_LAUNCH_STATE_MOTOR_DELAY
applyThrottleIdleLogic(false);
@ -403,6 +411,8 @@ 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;
launchStatus = FW_LAUNCH_FLYING; // considered a success if this far in launch sequence
if (areSticksDeflectedMoreThanPosHoldDeadband()) {
return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_IDLE state
}
@ -450,19 +460,14 @@ void resetFixedWingLaunchController(timeUs_t currentTimeUs)
setCurrentState(FW_LAUNCH_STATE_WAIT_THROTTLE, currentTimeUs);
}
bool isFixedWingLaunchDetected(void)
{
return fwLaunch.currentState >= FW_LAUNCH_STATE_DETECTED;
}
void enableFixedWingLaunchController(timeUs_t currentTimeUs)
{
setCurrentState(FW_LAUNCH_STATE_MOTOR_DELAY, currentTimeUs);
}
bool isFixedWingLaunchFinishedOrAborted(void)
uint8_t fixedWingLaunchStatus(void)
{
return fwLaunch.currentState == FW_LAUNCH_STATE_IDLE;
return launchStatus;
}
void abortFixedWingLaunch(void)