Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-19 22:35:19 +03:00
Code Issues Wiki Activity

no loiter waypoint for vtol

Browse source
This commit is contained in:
shota 2023-08-03 20:31:34 +09:00
parent 1188ff79fe
commit 258a88ce15
2 changed files with 6 additions and 22 deletions
Download patch file Download diff file Expand all files Collapse all files

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

@ -39,6 +39,7 @@
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/mixer_profile.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
@ -289,6 +290,10 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
needToCalculateCircularLoiter = isNavHoldPositionActive() &&
(distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) &&
(distanceToActualTarget > 50.0f);
//if vtol landing is required, fly straight to homepoint
if ((posControl.navState == NAV_STATE_RTH_HEAD_HOME) && navigationRTHAllowsLanding() && checkMixerATRequired(MIXERAT_REQUEST_LAND)){
needToCalculateCircularLoiter = false;
}
/* WP turn smoothing with 2 options, 1: pass through WP, 2: cut inside turn missing WP
* Works for turns > 30 degs and < 160 degs.