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This commit is contained in:
breadoven 2023-08-21 23:28:11 +01:00
parent bef8acca51
commit 26deae54bb
5 changed files with 32 additions and 12 deletions
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20
src/main/navigation/navigation.c
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@ -228,6 +228,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
static navWapointHeading_t wpHeadingControl;
navigationPosControl_t posControl;
navSystemStatus_t NAV_Status;
static bool landingDetectorIsActive;
EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
@ -2803,14 +2804,14 @@ void updateLandingStatus(timeMs_t currentTimeMs)
}
lastUpdateTimeMs = currentTimeMs;
static bool landingDetectorIsActive;
DEBUG_SET(DEBUG_LANDING, 0, landingDetectorIsActive);
DEBUG_SET(DEBUG_LANDING, 1, STATE(LANDING_DETECTED));
if (!ARMING_FLAG(ARMED)) {
resetLandingDetector();
landingDetectorIsActive = false;
if (!emergInflightRearmEnabled()) {
resetLandingDetector();
landingDetectorIsActive = false;
}
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
}
@ -2852,6 +2853,15 @@ bool isFlightDetected(void)
return STATE(AIRPLANE) ? isFixedWingFlying() : isMulticopterFlying();
}
bool isProbablyStillFlying(void)
{
bool inFlightSanityCheck = false;
if (STATE(AIRPLANE)) {
inFlightSanityCheck = isGPSHeadingValid();
}
return landingDetectorIsActive && !STATE(LANDING_DETECTED) && inFlightSanityCheck;
}
/*-----------------------------------------------------------
* Z-position controller
*-----------------------------------------------------------*/
@ -3801,7 +3811,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
canActivateWaypoint = false;
// Launch mode can be activated if feature FW_LAUNCH is enabled or BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
canActivateLaunchMode = isNavLaunchEnabled();
canActivateLaunchMode = isNavLaunchEnabled() && (!sensors(SENSOR_GPS) || (sensors(SENSOR_GPS) && !isGPSHeadingValid()));
}
return NAV_FSM_EVENT_SWITCH_TO_IDLE;