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Initial build

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This commit is contained in:
breadoven 2021-07-11 21:49:54 +01:00
parent e5145e4cc2
commit 64a3ef6833
11 changed files with 100 additions and 14 deletions
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14
src/main/navigation/navigation_fixedwing.c
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@ -243,18 +243,18 @@ static int8_t loiterDirection(void) {
if (pidProfile()->loiter_direction == NAV_LOITER_YAW) {
if (rcCommand[YAW] < -250) {
if (rcCommand[YAW] < -250) {
loiterDirYaw = 1; //RIGHT //yaw is contrariwise
}
if (rcCommand[YAW] > 250) {
if (rcCommand[YAW] > 250) {
loiterDirYaw = -1; //LEFT //see annexCode in fc_core.c
}
dir = loiterDirYaw;
}
if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) {
if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) {
dir *= -1;
}
@ -651,8 +651,8 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
if (true) {
#endif
if (navStateFlags & NAV_CTL_ALT) {
if (getMotorStatus() == MOTOR_STOPPED_USER) {
// Motor has been stopped by user. Update target altitude and bypass navigation pitch/throttle control
if (getMotorStatus() == MOTOR_STOPPED_USER || FLIGHT_MODE(SOARING_MODE)) {
// Motor has been stopped by user or soaring mode enabled to override altitude control
resetFixedWingAltitudeController();
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
} else {
@ -677,6 +677,10 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)) {
applyFixedWingPitchRollThrottleController(navStateFlags, currentTimeUs);
}
if (FLIGHT_MODE(SOARING_MODE) && navConfig()->general.flags.soaring_motor_stop) {
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
}
}
}