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Add roll control and OSD message

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This commit is contained in:
breadoven 2023-08-08 22:03:34 +01:00
parent 505b58f9f0
commit 4f396a39ea
4 changed files with 71 additions and 44 deletions
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4
docs/Settings.md
View file

@ -2654,11 +2654,11 @@ Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no speci
### nav_cruise_yaw_rate ### nav_cruise_yaw_rate
Max YAW rate when NAV CRUISE mode is enabled (set to 0 to disable) [dps] Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps]
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 20 | 0 | 60 | | 20 | 0 | 120 |
--- ---

4
src/main/fc/settings.yaml
View file

@ -2572,11 +2572,11 @@ groups:
field: general.flags.mission_planner_reset field: general.flags.mission_planner_reset
type: bool type: bool
- name: nav_cruise_yaw_rate - name: nav_cruise_yaw_rate
description: "Max YAW rate when NAV CRUISE mode is enabled (set to 0 to disable) [dps]" description: "Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps]"
default_value: 20 default_value: 20
field: general.cruise_yaw_rate field: general.cruise_yaw_rate
min: 0 min: 0
max: 60 max: 120
- name: nav_mc_bank_angle - name: nav_mc_bank_angle
description: "Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude" description: "Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude"
default_value: 30 default_value: 30

84
src/main/io/osd.c
View file

@ -542,7 +542,7 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt)
buff[0] = ' '; buff[0] = ' ';
} }
#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it and change the values #ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it and change the values
if (isBfCompatibleVideoSystem(osdConfig())) { if (isBfCompatibleVideoSystem(osdConfig())) {
totalDigits++; totalDigits++;
digits++; digits++;
@ -636,8 +636,8 @@ static inline void osdFormatFlyTime(char *buff, textAttributes_t *attr)
} }
} }
/** /**
* Trim whitespace from string. * Trim whitespace from string.
* Used in Stats screen on lines with multiple values. * Used in Stats screen on lines with multiple values.
*/ */
char *osdFormatTrimWhiteSpace(char *buff) char *osdFormatTrimWhiteSpace(char *buff)
@ -648,7 +648,7 @@ char *osdFormatTrimWhiteSpace(char *buff)
while(isspace((unsigned char)*buff)) buff++; while(isspace((unsigned char)*buff)) buff++;
// All spaces? // All spaces?
if(*buff == 0) if(*buff == 0)
return buff; return buff;
// Trim trailing spaces // Trim trailing spaces
@ -1094,7 +1094,7 @@ void osdCrosshairPosition(uint8_t *x, uint8_t *y)
* Check if this OSD layout is using scaled or unscaled throttle. * Check if this OSD layout is using scaled or unscaled throttle.
* If both are used, it will default to scaled. * If both are used, it will default to scaled.
*/ */
bool osdUsingScaledThrottle(void) bool osdUsingScaledThrottle(void)
{ {
bool usingScaledThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_SCALED_THROTTLE_POS]); bool usingScaledThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_SCALED_THROTTLE_POS]);
bool usingRCThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_THROTTLE_POS]); bool usingRCThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_THROTTLE_POS]);
@ -2979,7 +2979,7 @@ static bool osdDrawSingleElement(uint8_t item)
tfp_sprintf(buff, "%s%c", buff, SYM_AH_MI); tfp_sprintf(buff, "%s%c", buff, SYM_AH_MI);
} }
if (!efficiencyValid) { if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = buff[3] = '-'; buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[digits] = SYM_MAH_MI_0; // This will overwrite the "-" at buff[3] if not in BFCOMPAT mode buff[digits] = SYM_MAH_MI_0; // This will overwrite the "-" at buff[3] if not in BFCOMPAT mode
buff[digits + 1] = SYM_MAH_MI_1; buff[digits + 1] = SYM_MAH_MI_1;
buff[digits + 2] = '\0'; buff[digits + 2] = '\0';
@ -2993,7 +2993,7 @@ static bool osdDrawSingleElement(uint8_t item)
tfp_sprintf(buff, "%s%c", buff, SYM_AH_NM); tfp_sprintf(buff, "%s%c", buff, SYM_AH_NM);
} }
if (!efficiencyValid) { if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = buff[3] = '-'; buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[digits] = SYM_MAH_NM_0; buff[digits] = SYM_MAH_NM_0;
buff[digits + 1] = SYM_MAH_NM_1; buff[digits + 1] = SYM_MAH_NM_1;
buff[digits + 2] = '\0'; buff[digits + 2] = '\0';
@ -3009,7 +3009,7 @@ static bool osdDrawSingleElement(uint8_t item)
tfp_sprintf(buff, "%s%c", buff, SYM_AH_KM); tfp_sprintf(buff, "%s%c", buff, SYM_AH_KM);
} }
if (!efficiencyValid) { if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = buff[3] = '-'; buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[digits] = SYM_MAH_KM_0; buff[digits] = SYM_MAH_KM_0;
buff[digits + 1] = SYM_MAH_KM_1; buff[digits + 1] = SYM_MAH_KM_1;
buff[digits + 2] = '\0'; buff[digits + 2] = '\0';
@ -4094,7 +4094,7 @@ static void osdUpdateStats(void)
static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page) static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
{ {
const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "KILLSW", "FAILSAFE", "NAV SYS", "LANDING"}; const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "KILLSW", "FAILSAFE", "NAV SYS", "LANDING"};
uint8_t top = 1; // Start one line down leaving space at the top of the screen. uint8_t top = 1; // Start one line down leaving space at the top of the screen.
size_t multiValueLengthOffset = 0; size_t multiValueLengthOffset = 0;
const uint8_t statNameX = osdDisplayIsHD() ? 11 : 1; const uint8_t statNameX = osdDisplayIsHD() ? 11 : 1;
@ -4116,14 +4116,14 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
} }
if (isSinglePageStatsCompatible || page == 0) { if (isSinglePageStatsCompatible || page == 0) {
if (feature(FEATURE_GPS)) { if (feature(FEATURE_GPS)) {
if (isSinglePageStatsCompatible) { if (isSinglePageStatsCompatible) {
displayWrite(osdDisplayPort, statNameX, top, "MAX/AVG SPEED :"); displayWrite(osdDisplayPort, statNameX, top, "MAX/AVG SPEED :");
osdFormatVelocityStr(buff, stats.max_3D_speed, true, false); osdFormatVelocityStr(buff, stats.max_3D_speed, true, false);
osdLeftAlignString(buff); osdLeftAlignString(buff);
strcat(osdFormatTrimWhiteSpace(buff),"/"); strcat(osdFormatTrimWhiteSpace(buff),"/");
multiValueLengthOffset = strlen(buff); multiValueLengthOffset = strlen(buff);
displayWrite(osdDisplayPort, statValuesX, top, buff); displayWrite(osdDisplayPort, statValuesX, top, buff);
osdGenerateAverageVelocityStr(buff); osdGenerateAverageVelocityStr(buff);
osdLeftAlignString(buff); osdLeftAlignString(buff);
displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff); displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
@ -4160,7 +4160,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
osdLeftAlignString(buff); osdLeftAlignString(buff);
strcat(osdFormatTrimWhiteSpace(buff), "%/"); strcat(osdFormatTrimWhiteSpace(buff), "%/");
multiValueLengthOffset = strlen(buff); multiValueLengthOffset = strlen(buff);
displayWrite(osdDisplayPort, statValuesX, top, buff); displayWrite(osdDisplayPort, statValuesX, top, buff);
itoa(stats.min_rssi_dbm, buff, 10); itoa(stats.min_rssi_dbm, buff, 10);
tfp_sprintf(buff, "%s%c", buff, SYM_DBM); tfp_sprintf(buff, "%s%c", buff, SYM_DBM);
osdLeftAlignString(buff); osdLeftAlignString(buff);
@ -4175,7 +4175,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
itoa(stats.min_rssi_dbm, buff, 10); itoa(stats.min_rssi_dbm, buff, 10);
tfp_sprintf(buff, "%s%c", buff, SYM_DBM); tfp_sprintf(buff, "%s%c", buff, SYM_DBM);
displayWrite(osdDisplayPort, statValuesX, top++, buff); displayWrite(osdDisplayPort, statValuesX, top++, buff);
} }
displayWrite(osdDisplayPort, statNameX, top, "MIN LQ :"); displayWrite(osdDisplayPort, statNameX, top, "MIN LQ :");
itoa(stats.min_lq, buff, 10); itoa(stats.min_lq, buff, 10);
@ -4201,7 +4201,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
displayWrite(osdDisplayPort, statNameX, top, "DISARMED BY :"); displayWrite(osdDisplayPort, statNameX, top, "DISARMED BY :");
displayWrite(osdDisplayPort, statValuesX, top++, disarmReasonStr[getDisarmReason()]); displayWrite(osdDisplayPort, statValuesX, top++, disarmReasonStr[getDisarmReason()]);
} }
if (isSinglePageStatsCompatible || page == 1) { if (isSinglePageStatsCompatible || page == 1) {
if (osdConfig()->stats_min_voltage_unit == OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY) { if (osdConfig()->stats_min_voltage_unit == OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY) {
displayWrite(osdDisplayPort, statNameX, top, "MIN BATTERY VOLT :"); displayWrite(osdDisplayPort, statNameX, top, "MIN BATTERY VOLT :");
@ -4323,20 +4323,20 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
} }
} }
const float max_gforce = accGetMeasuredMaxG(); const float max_gforce = accGetMeasuredMaxG();
displayWrite(osdDisplayPort, statNameX, top, "MAX G-FORCE :"); displayWrite(osdDisplayPort, statNameX, top, "MAX G-FORCE :");
osdFormatCentiNumber(buff, max_gforce * 100, 0, 2, 0, 3); osdFormatCentiNumber(buff, max_gforce * 100, 0, 2, 0, 3);
displayWrite(osdDisplayPort, statValuesX, top++, buff); displayWrite(osdDisplayPort, statValuesX, top++, buff);
const acc_extremes_t *acc_extremes = accGetMeasuredExtremes(); const acc_extremes_t *acc_extremes = accGetMeasuredExtremes();
const float acc_extremes_min = acc_extremes[Z].min; const float acc_extremes_min = acc_extremes[Z].min;
const float acc_extremes_max = acc_extremes[Z].max; const float acc_extremes_max = acc_extremes[Z].max;
displayWrite(osdDisplayPort, statNameX, top, "MIN/MAX Z G-FORCE:"); displayWrite(osdDisplayPort, statNameX, top, "MIN/MAX Z G-FORCE:");
osdFormatCentiNumber(buff, acc_extremes_min * 100, 0, 2, 0, 4); osdFormatCentiNumber(buff, acc_extremes_min * 100, 0, 2, 0, 4);
osdLeftAlignString(buff); osdLeftAlignString(buff);
strcat(osdFormatTrimWhiteSpace(buff),"/"); strcat(osdFormatTrimWhiteSpace(buff),"/");
multiValueLengthOffset = strlen(buff); multiValueLengthOffset = strlen(buff);
displayWrite(osdDisplayPort, statValuesX, top, buff); displayWrite(osdDisplayPort, statValuesX, top, buff);
osdFormatCentiNumber(buff, acc_extremes_max * 100, 0, 2, 0, 3); osdFormatCentiNumber(buff, acc_extremes_max * 100, 0, 2, 0, 3);
osdLeftAlignString(buff); osdLeftAlignString(buff);
displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff); displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
@ -4546,41 +4546,41 @@ static void osdRefresh(timeUs_t currentTimeUs)
statsCurrentPage = 0; statsCurrentPage = 0;
statsAutoPagingEnabled = osdConfig()->stats_page_auto_swap_time > 0 ? true : false; statsAutoPagingEnabled = osdConfig()->stats_page_auto_swap_time > 0 ? true : false;
osdShowStats(statsSinglePageCompatible, statsCurrentPage); osdShowStats(statsSinglePageCompatible, statsCurrentPage);
osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME); osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
} }
armState = ARMING_FLAG(ARMED); armState = ARMING_FLAG(ARMED);
} }
// This block is entered when we're showing the "Splash", "Armed" or "Stats" screens // This block is entered when we're showing the "Splash", "Armed" or "Stats" screens
if (resumeRefreshAt) { if (resumeRefreshAt) {
// Handle events only when the "Stats" screen is being displayed. // Handle events only when the "Stats" screen is being displayed.
if (statsDisplayed) { if (statsDisplayed) {
// Manual paging stick commands are only applicable to multi-page stats. // Manual paging stick commands are only applicable to multi-page stats.
// ****************************** // ******************************
// For single-page stats, this effectively disables the ability to cancel the // For single-page stats, this effectively disables the ability to cancel the
// automatic paging/updates with the stick commands. So unless stats_page_auto_swap_time // automatic paging/updates with the stick commands. So unless stats_page_auto_swap_time
// is set to 0 or greater than 4 (saved settings display interval is 5 seconds), then // is set to 0 or greater than 4 (saved settings display interval is 5 seconds), then
// "Saved Settings" should display if it is active within the refresh interval. // "Saved Settings" should display if it is active within the refresh interval.
// ****************************** // ******************************
// With multi-page stats, "Saved Settings" could also be missed if the user // With multi-page stats, "Saved Settings" could also be missed if the user
// has canceled automatic paging using the stick commands, because that is only // has canceled automatic paging using the stick commands, because that is only
// updated when osdShowStats() is called. So, in that case, they would only see // updated when osdShowStats() is called. So, in that case, they would only see
// the "Saved Settings" message if they happen to manually change pages using the // the "Saved Settings" message if they happen to manually change pages using the
// stick commands within the interval the message is displayed. // stick commands within the interval the message is displayed.
bool manualPageUpRequested = false; bool manualPageUpRequested = false;
bool manualPageDownRequested = false; bool manualPageDownRequested = false;
if (!statsSinglePageCompatible) { if (!statsSinglePageCompatible) {
// These methods ensure the paging stick commands are held for a brief period // These methods ensure the paging stick commands are held for a brief period
// Otherwise it can result in a race condition where the stats are // Otherwise it can result in a race condition where the stats are
// updated too quickly and can result in partial blanks, etc. // updated too quickly and can result in partial blanks, etc.
if (osdIsPageUpStickCommandHeld()) { if (osdIsPageUpStickCommandHeld()) {
manualPageUpRequested = true; manualPageUpRequested = true;
statsAutoPagingEnabled = false; statsAutoPagingEnabled = false;
} else if (osdIsPageDownStickCommandHeld()) { } else if (osdIsPageDownStickCommandHeld()) {
manualPageDownRequested = true; manualPageDownRequested = true;
statsAutoPagingEnabled = false; statsAutoPagingEnabled = false;
} }
} }
@ -4603,7 +4603,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
// Process manual page change events for multi-page stats. // Process manual page change events for multi-page stats.
if (manualPageUpRequested) { if (manualPageUpRequested) {
osdShowStats(statsSinglePageCompatible, 1); osdShowStats(statsSinglePageCompatible, 1);
statsCurrentPage = 1; statsCurrentPage = 1;
} else if (manualPageDownRequested) { } else if (manualPageDownRequested) {
osdShowStats(statsSinglePageCompatible, 0); osdShowStats(statsSinglePageCompatible, 0);
statsCurrentPage = 0; statsCurrentPage = 0;
@ -4612,7 +4612,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
} }
// Handle events when either "Splash", "Armed" or "Stats" screens are displayed. // Handle events when either "Splash", "Armed" or "Stats" screens are displayed.
if ((currentTimeUs > resumeRefreshAt) || OSD_RESUME_UPDATES_STICK_COMMAND) { if ((currentTimeUs > resumeRefreshAt) || OSD_RESUME_UPDATES_STICK_COMMAND) {
// Time elapsed or canceled by stick commands. // Time elapsed or canceled by stick commands.
// Exit to normal OSD operation. // Exit to normal OSD operation.
displayClearScreen(osdDisplayPort); displayClearScreen(osdDisplayPort);
@ -4622,7 +4622,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
// Continue "Splash", "Armed" or "Stats" screens. // Continue "Splash", "Armed" or "Stats" screens.
displayHeartbeat(osdDisplayPort); displayHeartbeat(osdDisplayPort);
} }
return; return;
} }
@ -4865,6 +4865,16 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
// by OSD_FLYMODE. // by OSD_FLYMODE.
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_ALTITUDE_HOLD); messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_ALTITUDE_HOLD);
} }
if (STATE(MULTIROTOR) && FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
if (posControl.cruise.multicopterSpeed >= 50.0f) {
char buf[6];
osdFormatVelocityStr(buf, posControl.cruise.multicopterSpeed, false, false);
tfp_sprintf(messageBuf, "(SPD %s)", buf);
} else {
strcpy(messageBuf, "(HOLD)");
}
messages[messageCount++] = messageBuf;
}
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM) && !feature(FEATURE_FW_AUTOTRIM)) { if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM) && !feature(FEATURE_FW_AUTOTRIM)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTRIM); messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTRIM);
} }

23
src/main/navigation/navigation.c
View file

@ -1061,6 +1061,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_COURSE_HOLD_INITIALIZE(
{ {
UNUSED(previousState); UNUSED(previousState);
if (STATE(MULTIROTOR) && !navConfig()->general.cruise_yaw_rate) { // course hold not possible on MR without yaw control
return NAV_FSM_EVENT_ERROR;
}
DEBUG_SET(DEBUG_CRUISE, 0, 1); DEBUG_SET(DEBUG_CRUISE, 0, 1);
// Switch to IDLE if we do not have an healty position. Try the next iteration. // Switch to IDLE if we do not have an healty position. Try the next iteration.
if (checkForPositionSensorTimeout()) { if (checkForPositionSensorTimeout()) {
@ -1100,11 +1104,20 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_COURSE_HOLD_IN_PROGRESS
return NAV_FSM_EVENT_SWITCH_TO_COURSE_ADJ; return NAV_FSM_EVENT_SWITCH_TO_COURSE_ADJ;
} }
// User is yawing. We record the desidered yaw and we change the desidered target in the meanwhile int16_t cruiseYawRate = DEGREES_TO_CENTIDEGREES(navConfig()->general.cruise_yaw_rate);
if (posControl.flags.isAdjustingHeading) { const bool mcRollStickHeadingAdjustmentActive = STATE(MULTIROTOR) && ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband;
// User demanding yaw -> yaw stick on FW, yaw or roll sticks on MR
// We record the desired course and change the desired target in the meanwhile
if (posControl.flags.isAdjustingHeading || mcRollStickHeadingAdjustmentActive) {
int16_t headingAdjustCommand = rcCommand[YAW];
if (mcRollStickHeadingAdjustmentActive && ABS(rcCommand[ROLL]) > ABS(headingAdjustCommand)) {
headingAdjustCommand = -rcCommand[ROLL];
}
timeMs_t timeDifference = currentTimeMs - posControl.cruise.lastCourseAdjustmentTime; timeMs_t timeDifference = currentTimeMs - posControl.cruise.lastCourseAdjustmentTime;
if (timeDifference > 100) timeDifference = 0; // if adjustment was called long time ago, reset the time difference. if (timeDifference > 100) timeDifference = 0; // if adjustment was called long time ago, reset the time difference.
float rateTarget = scaleRangef((float)rcCommand[YAW], -500.0f, 500.0f, -DEGREES_TO_CENTIDEGREES(navConfig()->general.cruise_yaw_rate), DEGREES_TO_CENTIDEGREES(navConfig()->general.cruise_yaw_rate)); float rateTarget = scaleRangef((float)headingAdjustCommand, -500.0f, 500.0f, -cruiseYawRate, cruiseYawRate);
float centidegsPerIteration = rateTarget * MS2S(timeDifference); float centidegsPerIteration = rateTarget * MS2S(timeDifference);
posControl.cruise.course = wrap_36000(posControl.cruise.course - centidegsPerIteration); posControl.cruise.course = wrap_36000(posControl.cruise.course - centidegsPerIteration);
DEBUG_SET(DEBUG_CRUISE, 1, CENTIDEGREES_TO_DEGREES(posControl.cruise.course)); DEBUG_SET(DEBUG_CRUISE, 1, CENTIDEGREES_TO_DEGREES(posControl.cruise.course));
@ -1137,6 +1150,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_COURSE_HOLD_ADJUSTING(n
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_INITIALIZE(navigationFSMState_t previousState) static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_INITIALIZE(navigationFSMState_t previousState)
{ {
if (STATE(MULTIROTOR) && !navConfig()->general.cruise_yaw_rate) { // course hold not possible on MR without yaw control
return NAV_FSM_EVENT_ERROR;
}
navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(previousState); navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(previousState);
return navOnEnteringState_NAV_STATE_COURSE_HOLD_INITIALIZE(previousState); return navOnEnteringState_NAV_STATE_COURSE_HOLD_INITIALIZE(previousState);