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launch mode failsafe fixes

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This commit is contained in:
breadoven 2024-11-28 11:24:52 +00:00
parent a861d63d13
commit 463ba1a48a
3 changed files with 22 additions and 18 deletions
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9
src/main/navigation/navigation_fw_launch.c
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@ -260,7 +260,7 @@ static bool hasIdleWakeWiggleSucceeded(timeUs_t currentTimeUs) {
static timeMs_t wiggleTime = 0;
static timeMs_t wigglesTime = 0;
static int8_t wiggleStageOne = 0;
static uint8_t wiggleCount = 0;
static uint8_t wiggleCount = 0;
const bool isAircraftWithinLaunchAngle = (calculateCosTiltAngle() >= cos_approx(DEGREES_TO_RADIANS(navConfig()->fw.launch_max_angle)));
const uint8_t wiggleStrength = (navConfig()->fw.launch_wiggle_wake_idle == 1) ? 50 : 40;
int8_t wiggleDirection = 0;
@ -276,12 +276,12 @@ static bool hasIdleWakeWiggleSucceeded(timeUs_t currentTimeUs) {
} else if (wiggleStageOne != wiggleDirection) {
wiggleStageOne = 0;
wiggleCount++;
if (wiggleCount == navConfig()->fw.launch_wiggle_wake_idle) {
return true;
}
}
wiggleTime = US2MS(currentTimeUs);
}
@ -360,7 +360,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT(tim
}
if (navConfig()->fw.launch_wiggle_wake_idle == 0 || navConfig()->fw.launch_idle_motor_timer > 0 ) {
return FW_LAUNCH_EVENT_GOTO_DETECTION;
return FW_LAUNCH_EVENT_GOTO_DETECTION;
}
applyThrottleIdleLogic(true);
@ -613,6 +613,7 @@ uint8_t fixedWingLaunchStatus(void)
void abortFixedWingLaunch(void)
{
setCurrentState(FW_LAUNCH_STATE_ABORTED, 0);
DISABLE_FLIGHT_MODE(NAV_LAUNCH_MODE);
}
const char * fixedWingLaunchStateMessage(void)