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FW Nav Fix Coding Style

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This commit is contained in:
JuliooCesarMDM 2021-06-25 22:09:19 -03:00
parent ce41344c8f
commit 715b0007e7
1 changed files with 15 additions and 6 deletions
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21
src/main/navigation/navigation_fixedwing.c
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@ -238,8 +238,14 @@ 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) loiterDirYaw = 1; //RIGHT //yaw is contrariwise if (rcCommand[YAW] < -250) {
if (rcCommand[YAW] > 250) loiterDirYaw = -1; //LEFT //see annexCode in fc_core.c loiterDirYaw = 1; //RIGHT //yaw is contrariwise
}
if (rcCommand[YAW] > 250) {
loiterDirYaw = -1; //LEFT //see annexCode in fc_core.c
}
dir = loiterDirYaw; dir = loiterDirYaw;
} }
if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) dir *= -1; if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) dir *= -1;
@ -535,10 +541,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
// Manual throttle increase // Manual throttle increase
if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE)) { if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE)) {
if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95) if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95){
correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle); correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle);
else } else {
correctedThrottleValue = motorConfig()->maxthrottle; correctedThrottleValue = motorConfig()->maxthrottle;
}
isAutoThrottleManuallyIncreased = (rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle); isAutoThrottleManuallyIncreased = (rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle);
} else { } else {
isAutoThrottleManuallyIncreased = false; isAutoThrottleManuallyIncreased = false;
@ -651,12 +658,14 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
posControl.rcAdjustment[ROLL] = 0; posControl.rcAdjustment[ROLL] = 0;
} }
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && posControl.flags.isAdjustingPosition) if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && posControl.flags.isAdjustingPosition){
rcCommand[ROLL] = applyDeadbandRescaled(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband, -500, 500); rcCommand[ROLL] = applyDeadbandRescaled(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband, -500, 500);
}
//if (navStateFlags & NAV_CTL_YAW) //if (navStateFlags & NAV_CTL_YAW)
if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)) if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)){
applyFixedWingPitchRollThrottleController(navStateFlags, currentTimeUs); applyFixedWingPitchRollThrottleController(navStateFlags, currentTimeUs);
}
} }
} }