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refactoring

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-05-28 10:57:29 +02:00
parent df9bc75630
commit 65f685ccff
2 changed files with 2 additions and 2 deletions
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2
src/main/navigation/navigation.c
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@ -387,7 +387,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_STATE_RTH_LANDING] = {
.onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,

2
src/main/navigation/navigation_fixedwing.c
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@ -447,7 +447,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
* Then altitude is below landing slowdown min. altitude, set throttle to min_throttle
* TODO refactor conditions in this metod if logic is proven to be correct
*/
if (sensors(SENSOR_BARO) && posControl.actualState.pos.V.Z < navConfig()->general.land_slowdown_minalt) {
if (posControl.flags.hasValidAltitudeSensor && posControl.actualState.pos.V.Z < navConfig()->general.land_slowdown_minalt) {
rcCommand[THROTTLE] = navConfig()->fw.min_throttle;
}
}