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Prevent unexpected takeoff in RTH LANDED state.

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This commit is contained in:
Krzysztof Matula 2019-02-17 22:54:27 +01:00
parent 7c24e68e11
commit 3701c67a4b
1 changed files with 8 additions and 0 deletions
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8
src/main/navigation/navigation.c
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@ -1312,6 +1312,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHED(navigation
// Stay in this state // Stay in this state
UNUSED(previousState); UNUSED(previousState);
updateClimbRateToAltitudeController(-0.3f * navConfig()->general.land_descent_rate, ROC_TO_ALT_NORMAL); // FIXME updateClimbRateToAltitudeController(-0.3f * navConfig()->general.land_descent_rate, ROC_TO_ALT_NORMAL); // FIXME
// Prevent I-terms growing when already landed
pidResetErrorAccumulators();
return NAV_FSM_EVENT_NONE; return NAV_FSM_EVENT_NONE;
} }
@ -1477,6 +1481,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINIS
{ {
// TODO: // TODO:
UNUSED(previousState); UNUSED(previousState);
// Prevent I-terms growing when already landed
pidResetErrorAccumulators();
return NAV_FSM_EVENT_SUCCESS; return NAV_FSM_EVENT_SUCCESS;
} }