Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-21 15:25:29 +03:00
Code Issues Wiki Activity

fix wp linear climb dive

Browse source
This commit is contained in:
hali9 2019-12-25 16:25:51 +01:00 • committed by GitHub
parent 4e762b6649
commit 6bac376bcc
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/navigation/navigation.c
View file

@ -1399,8 +1399,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
fpVector3_t tmpWaypoint;
tmpWaypoint.x = posControl.activeWaypoint.pos.x;
tmpWaypoint.y = posControl.activeWaypoint.pos.y;
tmpWaypoint.z = scaleRange(constrainf(posControl.wpDistance, posControl.wpInitialDistance / 10, posControl.wpInitialDistance),
posControl.wpInitialDistance, posControl.wpInitialDistance / 10,
tmpWaypoint.z = scaleRangef(constrainf(posControl.wpDistance, posControl.wpInitialDistance / 10.0f, posControl.wpInitialDistance),
posControl.wpInitialDistance, posControl.wpInitialDistance / 10.0f,
posControl.wpInitialAltitude, posControl.activeWaypoint.pos.z);
setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms