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Merge branch 'master' into abo_waypoint_tracking

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breadoven 2022-08-12 13:02:36 +01:00 • committed by GitHub
commit 67adc42e75
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61 changed files with 922 additions and 644 deletions
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12
src/main/navigation/navigation.c
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@ -203,6 +203,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
.launch_abort_deadband = SETTING_NAV_FW_LAUNCH_ABORT_DEADBAND_DEFAULT, // 100 us
.cruise_yaw_rate = SETTING_NAV_FW_CRUISE_YAW_RATE_DEFAULT, // 20dps
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
@ -1829,13 +1831,18 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
const timeUs_t currentTimeUs = micros();
UNUSED(previousState);
// Continue immediately to launch in progress if manual launch throttle used
if (navConfig()->fw.launch_manual_throttle) {
return NAV_FSM_EVENT_SUCCESS;
}
if (fixedWingLaunchStatus() == FW_LAUNCH_DETECTED) {
enableFixedWingLaunchController(currentTimeUs);
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_IN_PROGRESS
}
// abort NAV_LAUNCH_MODE by moving sticks with low throttle or throttle stick < launch idle throttle
if (abortLaunchAllowed() && isRollPitchStickDeflected(LAUNCH_ABORT_STICK_DEADBAND)) {
if (abortLaunchAllowed() && isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband)) {
abortFixedWingLaunch();
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
@ -4234,7 +4241,8 @@ bool navigationIsExecutingAnEmergencyLanding(void)
bool navigationInAutomaticThrottleMode(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND));
return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAND)) ||
((stateFlags & NAV_CTL_LAUNCH) && !navConfig()->fw.launch_manual_throttle);
}
bool navigationIsControllingThrottle(void)