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Code Issues Wiki Activity

set home position info after updating it

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This commit is contained in:
Tony Yeung 2021-02-28 23:04:24 +00:00
parent f4e5fd765f
commit 1feb1c318e
1 changed files with 3 additions and 0 deletions
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3
src/main/navigation/navigation.c
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@ -233,6 +233,7 @@ static navigationFSMEvent_t nextForNonGeoStates(void);
void initializeRTHSanityChecker(const fpVector3_t * pos); void initializeRTHSanityChecker(const fpVector3_t * pos);
bool validateRTHSanityChecker(void); bool validateRTHSanityChecker(void);
void updateHomePosition(void);
/*************************************************************************************************/ /*************************************************************************************************/
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState);
@ -2354,6 +2355,8 @@ void checkSafeHomeState(bool shouldBeEnabled)
setHomePosition(&original_rth_home, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity()); setHomePosition(&original_rth_home, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
safehome_applied = false; safehome_applied = false;
} }
// if we've changed the home position, update the distance and direction
updateHomePosition();
} }
/*********************************************************** /***********************************************************