Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-26 17:55:28 +03:00
Code Issues Wiki Activity

Merge pull request #7250 from breadoven/abo_fixed_wing_soaring_mode

Browse source 
Fixed wing soaring mode
This commit is contained in:
Paweł Spychalski 2021-11-08 09:06:29 +01:00 • committed by GitHub
commit 6df55cb683
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
11 changed files with 100 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

19
src/main/navigation/navigation.c
View file

@ -118,6 +118,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.safehome_usage_mode = SETTING_SAFEHOME_USAGE_MODE_DEFAULT,
.mission_planner_reset = SETTING_NAV_MISSION_PLANNER_RESET_DEFAULT, // Allow mode switch toggle to reset Mission Planner WPs
.waypoint_mission_restart = SETTING_NAV_WP_MISSION_RESTART_DEFAULT, // WP mission restart action
.soaring_motor_stop = SETTING_NAV_FW_SOARING_MOTOR_STOP_DEFAULT, // stops motor when Saoring mode enabled
},
// General navigation parameters
@ -198,6 +199,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
.yawControlDeadband = SETTING_NAV_FW_YAW_DEADBAND_DEFAULT,
.soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT,// pitch angle mode deadband when Saoring mode enabled
}
);
@ -3295,8 +3297,9 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
canActivateWaypoint = false;
}
// LAUNCH mode has priority over any other NAV mode
if (STATE(FIXED_WING_LEGACY)) {
/* Airplane specific modes */
if (STATE(AIRPLANE)) {
// LAUNCH mode has priority over any other NAV mode
if (isNavLaunchEnabled()) { // FIXME: Only available for fixed wing aircrafts now
if (canActivateLaunchMode) {
canActivateLaunchMode = false;
@ -3317,6 +3320,16 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
}
/* Soaring mode, disables altitude control in Position hold and Course hold modes.
* Pitch allowed to freefloat within defined Angle mode deadband */
if (IS_RC_MODE_ACTIVE(BOXSOARING) && (FLIGHT_MODE(NAV_POSHOLD_MODE) || FLIGHT_MODE(NAV_COURSE_HOLD_MODE))) {
if (!FLIGHT_MODE(SOARING_MODE)) {
ENABLE_FLIGHT_MODE(SOARING_MODE);
}
} else {
DISABLE_FLIGHT_MODE(SOARING_MODE);
}
}
// Failsafe_RTH (can override MANUAL)
@ -3905,7 +3918,7 @@ bool navigationInAutomaticThrottleMode(void)
bool navigationIsControllingThrottle(void)
{
// Note that this makes a detour into mixer code to evaluate actual motor status
return navigationInAutomaticThrottleMode() && (getMotorStatus() != MOTOR_STOPPED_USER);
return navigationInAutomaticThrottleMode() && getMotorStatus() != MOTOR_STOPPED_USER && !FLIGHT_MODE(SOARING_MODE);
}
bool navigationIsControllingAltitude(void) {