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fix

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This commit is contained in:
JuliooCesarMDM 2021-06-26 13:06:57 -03:00
parent 715b0007e7
commit 6dce0e076e
1 changed files with 11 additions and 2 deletions
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13
src/main/navigation/navigation_fixedwing.c
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@ -236,8 +236,13 @@ void resetFixedWingPositionController(void)
static int8_t loiterDirection(void) { static int8_t loiterDirection(void) {
int8_t dir = 1; //NAV_LOITER_RIGHT int8_t dir = 1; //NAV_LOITER_RIGHT
if (pidProfile()->loiter_direction == NAV_LOITER_LEFT) dir = -1;
if (pidProfile()->loiter_direction == NAV_LOITER_LEFT) {
dir = -1;
}
if (pidProfile()->loiter_direction == NAV_LOITER_YAW) { if (pidProfile()->loiter_direction == NAV_LOITER_YAW) {
if (rcCommand[YAW] < -250) { if (rcCommand[YAW] < -250) {
loiterDirYaw = 1; //RIGHT //yaw is contrariwise loiterDirYaw = 1; //RIGHT //yaw is contrariwise
} }
@ -248,7 +253,11 @@ static int8_t loiterDirection(void) {
dir = loiterDirYaw; dir = loiterDirYaw;
} }
if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) dir *= -1;
if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) {
dir *= -1;
}
return dir; return dir;
} }