Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-22 07:45:24 +03:00
Code Issues Wiki Activity

first build

Browse source
This commit is contained in:
breadoven 2023-09-06 12:40:11 +01:00
parent 0d8e7889ca
commit 1c76c0b3d0
10 changed files with 49 additions and 63 deletions
Download patch file Download diff file Expand all files Collapse all files

5
src/main/navigation/navigation_fixedwing.c
View file

@ -646,7 +646,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
isAutoThrottleManuallyIncreased = false;
}
rcCommand[THROTTLE] = constrain(correctedThrottleValue, getThrottleIdleValue(), motorConfig()->maxthrottle);
rcCommand[THROTTLE] = setDesiredThrottle(correctedThrottleValue, false);
}
#ifdef NAV_FIXED_WING_LANDING
@ -661,7 +661,6 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
(posControl.flags.estAglStatus == EST_TRUSTED && posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) {
// Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
rcCommand[THROTTLE] = getThrottleIdleValue();
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
// Stabilize ROLL axis on 0 degrees banking regardless of loiter radius and position
@ -761,7 +760,7 @@ bool isFixedWingLandingDetected(void)
*-----------------------------------------------------------*/
void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
{
rcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
rcCommand[THROTTLE] = setDesiredThrottle(currentBatteryProfile->failsafe_throttle, true);
if (posControl.flags.estAltStatus >= EST_USABLE) {
// target min descent rate 10m above takeoff altitude