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Detect braking in cruise mode

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-05-04 14:18:53 +02:00
parent 4d5cc76fbb
commit 4400c0af0f
2 changed files with 38 additions and 1 deletions
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6
src/main/fc/runtime_config.h
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@ -99,7 +99,11 @@ typedef enum {
COMPASS_CALIBRATED = (1 << 8),
ACCELEROMETER_CALIBRATED= (1 << 9),
PWM_DRIVER_AVAILABLE = (1 << 10),
HELICOPTER = (1 << 11)
HELICOPTER = (1 << 11),
NAV_CRUISE_ACCELERATING = (1 << 12),
NAV_CRUISE_BRAKING = (1 << 13),
NAV_HIGHSPEED_CRUISE = (1 << 14),
NAV_CRUISE_STOPPED = (1 << 15)
} stateFlags_t;
#define DISABLE_STATE(mask) (stateFlags &= ~(mask))

33
src/main/navigation/navigation.c
View file

@ -1962,6 +1962,39 @@ static bool adjustPositionFromRCInput(void)
retValue = adjustFixedWingPositionFromRCInput();
}
else {
/*
* Process states
*/
if (navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE) {
const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
/*
* Case one, when we order to brake (sticks to the center) and we are moving above threshold
* Speed is above 1m/s and sticks are centered
*/
if (!STATE(NAV_CRUISE_BRAKING) &&
posControl.actualState.velXY > 100.0f &&
!rcPitchAdjustment &&
!rcRollAdjustment
) {
ENABLE_STATE(NAV_CRUISE_BRAKING);
}
/*
* Case when we were braking but copter finally stopped or we started to move the sticks
*/
if (STATE(NAV_CRUISE_BRAKING) && (
posControl.actualState.velXY <= 100.0f ||
rcPitchAdjustment ||
rcRollAdjustment
)) {
DISABLE_STATE(NAV_CRUISE_BRAKING);
}
}
retValue = adjustMulticopterPositionFromRCInput();
}