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Merge pull request #3298 from shellixyz/disable_althold_on_zero_throttle

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Disable ALTHOLD on user motor stop request
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Alberto García Hierro 2018-06-18 17:03:26 +01:00 • committed by GitHub
commit 3e18c56c17
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4 changed files with 39 additions and 23 deletions
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24
src/main/navigation/navigation_fixedwing.c
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@ -532,23 +532,25 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
#ifdef NAV_FW_LIMIT_MIN_FLY_VELOCITY
// Don't apply anything if ground speed is too low (<3m/s)
if (posControl.actualState.velXY > 300) {
if (navStateFlags & NAV_CTL_ALT)
applyFixedWingAltitudeAndThrottleController(currentTimeUs);
#else
if (true) {
#endif
if (navStateFlags & NAV_CTL_ALT) {
if (getMotorStatus() == MOTOR_STOPPED_USER) {
// Motor has been stopped by user. Update target altitude and bypass navigation pitch/throttle control
resetFixedWingAltitudeController();
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
} else
applyFixedWingAltitudeAndThrottleController(currentTimeUs);
}
if (navStateFlags & NAV_CTL_POS)
applyFixedWingPositionController(currentTimeUs);
}
else {
} else {
posControl.rcAdjustment[PITCH] = 0;
posControl.rcAdjustment[ROLL] = 0;
}
#else
if (navStateFlags & NAV_CTL_ALT)
applyFixedWingAltitudeAndThrottleController(currentTimeUs);
if (navStateFlags & NAV_CTL_POS)
applyFixedWingPositionController(currentTimeUs);
#endif
if (FLIGHT_MODE(NAV_CRUISE_MODE) && posControl.flags.isAdjustingPosition)
rcCommand[ROLL] = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);