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Merge remote-tracking branch 'upstream/master' into abo_emerg_flight_rearm

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This commit is contained in:
breadoven 2023-09-25 13:59:44 +01:00
commit 45272d9a02
95 changed files with 3054 additions and 646 deletions
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13
src/main/navigation/navigation_fixedwing.c
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@ -71,7 +71,6 @@ static bool isRollAdjustmentValid = false;
static bool isYawAdjustmentValid = false;
static float throttleSpeedAdjustment = 0;
static bool isAutoThrottleManuallyIncreased = false;
static int32_t navHeadingError;
static float navCrossTrackError;
static int8_t loiterDirYaw = 1;
bool needToCalculateCircularLoiter;
@ -445,7 +444,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
* Calculate NAV heading error
* Units are centidegrees
*/
navHeadingError = wrap_18000(virtualTargetBearing - posControl.actualState.cog);
int32_t navHeadingError = wrap_18000(virtualTargetBearing - posControl.actualState.cog);
// Forced turn direction
// If heading error is close to 180 deg we initiate forced turn and only disable it when heading error goes below 90 deg
@ -647,7 +646,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
isAutoThrottleManuallyIncreased = false;
}
rcCommand[THROTTLE] = constrain(correctedThrottleValue, getThrottleIdleValue(), motorConfig()->maxthrottle);
rcCommand[THROTTLE] = setDesiredThrottle(correctedThrottleValue, false);
}
#ifdef NAV_FIXED_WING_LANDING
@ -662,7 +661,6 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
(posControl.flags.estAglStatus == EST_TRUSTED && posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) {
// Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
rcCommand[THROTTLE] = getThrottleIdleValue();
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
// Stabilize ROLL axis on 0 degrees banking regardless of loiter radius and position
@ -762,7 +760,7 @@ bool isFixedWingLandingDetected(void)
*-----------------------------------------------------------*/
void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
{
rcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
rcCommand[THROTTLE] = setDesiredThrottle(currentBatteryProfile->failsafe_throttle, true);
if (posControl.flags.estAltStatus >= EST_USABLE) {
// target min descent rate 10m above takeoff altitude
@ -851,11 +849,6 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
}
}
int32_t navigationGetHeadingError(void)
{
return navHeadingError;
}
float navigationGetCrossTrackError(void)
{
return navCrossTrackError;