From 4d8fea95f75ab53fbcd45ac3d23e19900e36133b Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sat, 5 May 2018 16:22:56 +0200 Subject: [PATCH] limit time of braking mode --- src/main/navigation/navigation.c | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index 72f9b45934..19a90045d8 100755 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -1959,6 +1959,7 @@ static void resetPositionController(void) static bool adjustPositionFromRCInput(void) { bool retValue; + static uint32_t brakingModeDisengageAt = 0; if (STATE(FIXED_WING)) { retValue = adjustFixedWingPositionFromRCInput(); @@ -1990,6 +1991,18 @@ static bool adjustPositionFromRCInput(void) ) { ENABLE_STATE(NAV_CRUISE_BRAKING); DEBUG_SET(DEBUG_BRAKING, 0, 1); + + //Set forced BRAKING disengage moment + brakingModeDisengageAt = millis() + 500; + } + + //Forced BRAKING disengage routine + if ( + STATE(NAV_CRUISE_BRAKING) && + brakingModeDisengageAt < millis() + ) { + DISABLE_STATE(NAV_CRUISE_BRAKING); + DEBUG_SET(DEBUG_BRAKING, 0, 0); } /*