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Merge branch 'master' into sh_mixer_profile

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This commit is contained in:
shota 2023-09-20 00:45:53 +09:00
commit 59e421fba2
18 changed files with 125 additions and 170 deletions
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5
src/main/navigation/navigation_fixedwing.c
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@ -651,7 +651,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
isAutoThrottleManuallyIncreased = false;
}
rcCommand[THROTTLE] = constrain(correctedThrottleValue, getThrottleIdleValue(), motorConfig()->maxthrottle);
rcCommand[THROTTLE] = setDesiredThrottle(correctedThrottleValue, false);
}
#ifdef NAV_FIXED_WING_LANDING
@ -666,7 +666,6 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
(posControl.flags.estAglStatus == EST_TRUSTED && posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) {
// Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
rcCommand[THROTTLE] = getThrottleIdleValue();
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
// Stabilize ROLL axis on 0 degrees banking regardless of loiter radius and position
@ -766,7 +765,7 @@ bool isFixedWingLandingDetected(void)
*-----------------------------------------------------------*/
void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
{
rcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
rcCommand[THROTTLE] = setDesiredThrottle(currentBatteryProfile->failsafe_throttle, true);
if (posControl.flags.estAltStatus >= EST_USABLE) {
// target min descent rate 10m above takeoff altitude