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limit time of braking mode

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-05-05 16:22:56 +02:00
parent 0ac6e55f81
commit 4d8fea95f7
1 changed files with 13 additions and 0 deletions
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13
src/main/navigation/navigation.c
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@ -1959,6 +1959,7 @@ static void resetPositionController(void)
static bool adjustPositionFromRCInput(void) static bool adjustPositionFromRCInput(void)
{ {
bool retValue; bool retValue;
static uint32_t brakingModeDisengageAt = 0;
if (STATE(FIXED_WING)) { if (STATE(FIXED_WING)) {
retValue = adjustFixedWingPositionFromRCInput(); retValue = adjustFixedWingPositionFromRCInput();
@ -1990,6 +1991,18 @@ static bool adjustPositionFromRCInput(void)
) { ) {
ENABLE_STATE(NAV_CRUISE_BRAKING); ENABLE_STATE(NAV_CRUISE_BRAKING);
DEBUG_SET(DEBUG_BRAKING, 0, 1); 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);
} }
/* /*