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Code Issues Wiki Activity

Landing improvements only on targets with enought flash size

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-05-31 11:11:01 +02:00
parent d729e73a7d
commit 2869d885f0
2 changed files with 7 additions and 0 deletions
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6
src/main/navigation/navigation_fixedwing.c
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@ -408,6 +408,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
pitchCorrection += posControl.rcAdjustment[PITCH]; pitchCorrection += posControl.rcAdjustment[PITCH];
throttleCorrection += DECIDEGREES_TO_DEGREES(pitchCorrection) * navConfig()->fw.pitch_to_throttle; throttleCorrection += DECIDEGREES_TO_DEGREES(pitchCorrection) * navConfig()->fw.pitch_to_throttle;
#ifdef FIXED_WING_LANDING
if (navStateFlags & NAV_CTL_LAND) { if (navStateFlags & NAV_CTL_LAND) {
/* /*
* During LAND we do not allow to raise THROTTLE when nose is up * During LAND we do not allow to raise THROTTLE when nose is up
@ -415,8 +416,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
*/ */
throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, 0); throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, 0);
} else { } else {
#endif
throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection); throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection);
#ifdef FIXED_WING_LANDING
} }
#endif
} }
// Speed controller - only apply in POS mode when NOT NAV_CTL_LAND // Speed controller - only apply in POS mode when NOT NAV_CTL_LAND
@ -443,6 +447,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle); rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle);
} }
#ifdef FIXED_WING_LANDING
/* /*
* Then altitude is below landing slowdown min. altitude, enable final approach procedure * Then altitude is below landing slowdown min. altitude, enable final approach procedure
* TODO refactor conditions in this metod if logic is proven to be correct * TODO refactor conditions in this metod if logic is proven to be correct
@ -465,6 +470,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
*/ */
rcCommand[PITCH] = pidAngleToRcCommand(DEGREES_TO_DECIDEGREES(2), pidProfile()->max_angle_inclination[FD_PITCH]); rcCommand[PITCH] = pidAngleToRcCommand(DEGREES_TO_DECIDEGREES(2), pidProfile()->max_angle_inclination[FD_PITCH]);
} }
#endif
} }
/*----------------------------------------------------------- /*-----------------------------------------------------------

1
src/main/target/common.h
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@ -49,6 +49,7 @@
#endif #endif
#if (FLASH_SIZE > 128) #if (FLASH_SIZE > 128)
#define FIXED_WING_LANDING
#define AUTOTUNE_FIXED_WING #define AUTOTUNE_FIXED_WING
#define ASYNC_GYRO_PROCESSING #define ASYNC_GYRO_PROCESSING
#define BOOTLOG #define BOOTLOG