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mixer and pid profile linking

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This commit is contained in:
shota 2023-06-30 04:01:01 +09:00
parent 3ad0991125
commit 203bb2a471
14 changed files with 87 additions and 69 deletions
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14
src/main/navigation/navigation.c
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@ -4177,7 +4177,7 @@ void navigationUsePIDs(void)
);
}
void navigationYawControlInit(void){
void navigationInitYawControl(void){
if (
mixerConfig()->platformType == PLATFORM_BOAT ||
mixerConfig()->platformType == PLATFORM_ROVER ||
@ -4222,8 +4222,16 @@ void navigationInit(void)
/* Use system config */
navigationUsePIDs();
navigationYawControlInit();
if (
mixerConfig()->platformType == PLATFORM_BOAT ||
mixerConfig()->platformType == PLATFORM_ROVER ||
navConfig()->fw.useFwNavYawControl
) {
ENABLE_STATE(FW_HEADING_USE_YAW);
} else {
DISABLE_STATE(FW_HEADING_USE_YAW);
}
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
/* configure WP missions at boot */
#ifdef USE_MULTI_MISSION