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Merge pull request #5592 from iNavFlight/dzikuvx-simple-2d-navigation

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Simplified 2D navigation routines
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Paweł Spychalski 2020-04-14 21:38:40 +02:00 • committed by GitHub
commit 31738f890e
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5 changed files with 181 additions and 27 deletions
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4
src/main/navigation/navigation.c
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@ -2982,7 +2982,9 @@ void applyWaypointNavigationAndAltitudeHold(void)
/* Process controllers */
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if (STATE(FIXED_WING_LEGACY)) {
if (STATE(ROVER) || STATE(BOAT)) {
applyRoverBoatNavigationController(navStateFlags, currentTimeUs);
} else if (STATE(FIXED_WING_LEGACY)) {
applyFixedWingNavigationController(navStateFlags, currentTimeUs);
}
else {