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Fix POSHOLD mode

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This commit is contained in:
Michel Pastor 2018-06-26 23:57:37 +02:00
parent 9ebdb83175
commit 2d8c289b21
1 changed files with 1 additions and 1 deletions
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src/main/navigation/navigation.c
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@ -877,7 +877,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(n
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z); // This will reset surface offset setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z); // This will reset surface offset
} }
if (((prevFlags & NAV_CTL_POS) == 0) || ((prevFlags & NAV_AUTO_RTH) != 0) || ((prevFlags & NAV_AUTO_WP) != 0)) { if ((previousState != NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING) && (previousState != NAV_STATE_RTH_HOVER_ABOVE_HOME) && (previousState != NAV_STATE_RTH_LANDING)) {
fpVector3_t targetHoldPos; fpVector3_t targetHoldPos;
calculateInitialHoldPosition(&targetHoldPos); calculateInitialHoldPosition(&targetHoldPos);
setDesiredPosition(&targetHoldPos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING); setDesiredPosition(&targetHoldPos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);