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make navTargetPos int32_t to allow logging of altitudes higher than 327m

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This commit is contained in:
giacomo892 2018-07-16 11:01:03 +02:00
parent 1c06b30bde
commit 440514087b
3 changed files with 6 additions and 6 deletions
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2
src/main/blackbox/blackbox.c
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@ -419,7 +419,7 @@ typedef struct blackboxMainState_s {
int16_t navRealVel[XYZ_AXIS_COUNT];
int16_t navAccNEU[XYZ_AXIS_COUNT];
int16_t navTargetVel[XYZ_AXIS_COUNT];
int16_t navTargetPos[XYZ_AXIS_COUNT];
int32_t navTargetPos[XYZ_AXIS_COUNT];
int16_t navHeading;
int16_t navTargetHeading;
int16_t navSurface;

8
src/main/navigation/navigation.c
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@ -163,7 +163,7 @@ int16_t navActualVelocity[3];
int16_t navDesiredVelocity[3];
int16_t navActualHeading;
int16_t navDesiredHeading;
int16_t navTargetPosition[3];
int32_t navTargetPosition[3];
int32_t navLatestActualPosition[3];
int16_t navActualSurface;
uint16_t navFlags;
@ -2644,9 +2644,9 @@ void applyWaypointNavigationAndAltitudeHold(void)
if (posControl.flags.isAdjustingAltitude) navFlags |= (1 << 7);
if (posControl.flags.isAdjustingHeading) navFlags |= (1 << 8);
navTargetPosition[X] = constrain(lrintf(posControl.desiredState.pos.x), -32678, 32767);
navTargetPosition[Y] = constrain(lrintf(posControl.desiredState.pos.y), -32678, 32767);
navTargetPosition[Z] = constrain(lrintf(posControl.desiredState.pos.z), -32678, 32767);
navTargetPosition[X] = lrintf(posControl.desiredState.pos.x);
navTargetPosition[Y] = lrintf(posControl.desiredState.pos.y);
navTargetPosition[Z] = lrintf(posControl.desiredState.pos.z);
#endif
}

2
src/main/navigation/navigation.h
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@ -413,7 +413,7 @@ extern navSystemStatus_t NAV_Status;
extern int16_t navCurrentState;
extern int16_t navActualVelocity[3];
extern int16_t navDesiredVelocity[3];
extern int16_t navTargetPosition[3];
extern int32_t navTargetPosition[3];
extern int32_t navLatestActualPosition[3];
extern int16_t navActualSurface;
extern uint16_t navFlags;