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Code Issues Wiki Activity

Implement CRUISE MODE for Fixed Wing (#3311)

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* Nav cruise mode (2D/3D)
* CRUISE FLM on LTM telemetry
This commit is contained in:
giacomo892 2018-06-16 18:27:22 +02:00 • committed by Konstantin Sharlaimov
parent ee68dcf56d
commit 46ef27db85
12 changed files with 321 additions and 14 deletions
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10
src/main/navigation/navigation_fixedwing.c
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@ -182,6 +182,10 @@ void applyFixedWingAltitudeAndThrottleController(timeUs_t currentTimeUs)
*-----------------------------------------------------------*/
bool adjustFixedWingHeadingFromRCInput(void)
{
if (ABS(rcCommand[YAW]) > rcControlsConfig()->pos_hold_deadband) {
return true;
}
return false;
}
@ -218,7 +222,8 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
#define TAN_15DEG 0.26795f
bool needToCalculateCircularLoiter = isApproachingLastWaypoint()
&& (distanceToActualTarget <= (navConfig()->fw.loiter_radius / TAN_15DEG))
&& (distanceToActualTarget > 50.0f);
&& (distanceToActualTarget > 50.0f)
&& !FLIGHT_MODE(NAV_CRUISE_MODE);
// Calculate virtual position for straight movement
if (needToCalculateCircularLoiter) {
@ -545,6 +550,9 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
applyFixedWingPositionController(currentTimeUs);
#endif
if (FLIGHT_MODE(NAV_CRUISE_MODE) && posControl.flags.isAdjustingPosition)
rcCommand[ROLL] = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
//if (navStateFlags & NAV_CTL_YAW)
if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS))
applyFixedWingPitchRollThrottleController(navStateFlags, currentTimeUs);