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This commit is contained in:
breadoven 2022-06-18 12:18:06 +01:00
parent eb8cb98db3
commit 23dc73e78b
4 changed files with 41 additions and 6 deletions
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6
src/main/navigation/navigation.c
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@ -201,6 +201,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
.cruise_yaw_rate = SETTING_NAV_FW_CRUISE_YAW_RATE_DEFAULT, // 20dps
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
@ -1750,6 +1751,11 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
const timeUs_t currentTimeUs = micros();
UNUSED(previousState);
// Continue immediately to launch in progress if manual launch throttle used
if (navConfig()->fw.launch_manual_throttle) {
return NAV_FSM_EVENT_SUCCESS;
}
if (fixedWingLaunchStatus() == FW_LAUNCH_DETECTED) {
enableFixedWingLaunchController(currentTimeUs);
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_IN_PROGRESS