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Code Issues Wiki Activity

separate function for only roll/pitch stick deflection

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This commit is contained in:
Alexander van Saase 2021-06-09 14:33:34 +02:00
parent dac60f7a73
commit 156c947d3c
4 changed files with 9 additions and 3 deletions
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5
src/main/fc/rc_controls.c
View file

@ -103,6 +103,11 @@ bool areSticksDeflected(void)
return (ABS(rcCommand[ROLL]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[YAW]) > rcControlsConfig()->control_deadband); return (ABS(rcCommand[ROLL]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[YAW]) > rcControlsConfig()->control_deadband);
} }
bool isRollPitchStickDeflected(void)
{
return (ABS(rcCommand[ROLL]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->control_deadband);
}
throttleStatus_e FAST_CODE NOINLINE calculateThrottleStatus(throttleStatusType_e type) throttleStatus_e FAST_CODE NOINLINE calculateThrottleStatus(throttleStatusType_e type)
{ {
int value; int value;

1
src/main/fc/rc_controls.h
View file

@ -108,6 +108,7 @@ bool checkStickPosition(stickPositions_e stickPos);
bool areSticksInApModePosition(uint16_t ap_mode); bool areSticksInApModePosition(uint16_t ap_mode);
bool areSticksDeflected(void); bool areSticksDeflected(void);
bool isRollPitchStickDeflected(void);
throttleStatus_e calculateThrottleStatus(throttleStatusType_e type); throttleStatus_e calculateThrottleStatus(throttleStatusType_e type);
rollPitchStatus_e calculateRollPitchCenterStatus(void); rollPitchStatus_e calculateRollPitchCenterStatus(void);
void processRcStickPositions(throttleStatus_e throttleStatus); void processRcStickPositions(throttleStatus_e throttleStatus);

2
src/main/navigation/navigation.c
View file

@ -1728,7 +1728,7 @@ 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. //allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle.
if (feature(FEATURE_FW_LAUNCH)) { if (feature(FEATURE_FW_LAUNCH)) {
throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC); throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
if ((throttleStatus == THROTTLE_LOW) && (areSticksDeflected())) { if ((throttleStatus == THROTTLE_LOW) && (isRollPitchStickDeflected())) {
abortFixedWingLaunch(); abortFixedWingLaunch();
return NAV_FSM_EVENT_SWITCH_TO_IDLE; return NAV_FSM_EVENT_SWITCH_TO_IDLE;
} }

4
src/main/navigation/navigation_fw_launch.c
View file

@ -251,7 +251,7 @@ static inline bool isLaunchMaxAltitudeReached(void)
static inline bool areSticksMoved(timeMs_t initialTime, timeUs_t currentTimeUs) static inline bool areSticksMoved(timeMs_t initialTime, timeUs_t currentTimeUs)
{ {
return (initialTime + currentStateElapsedMs(currentTimeUs)) > navConfig()->fw.launch_min_time && areSticksDeflected(); return (initialTime + currentStateElapsedMs(currentTimeUs)) > navConfig()->fw.launch_min_time && isRollPitchStickDeflected();
} }
static void resetPidsIfNeeded(void) { static void resetPidsIfNeeded(void) {
@ -435,7 +435,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs); const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs);
const timeMs_t endTimeMs = navConfig()->fw.launch_end_time; const timeMs_t endTimeMs = navConfig()->fw.launch_end_time;
if (areSticksDeflected()) { if (isRollPitchStickDeflected()) {
return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_IDLE state return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_IDLE state
} }
if (elapsedTimeMs > endTimeMs) { if (elapsedTimeMs > endTimeMs) {