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Fix Naming

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This commit is contained in:
breadoven 2020-10-02 12:33:26 +01:00
parent 6e2eac3197
commit 73ca0184ce
2 changed files with 9 additions and 9 deletions
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16
src/main/navigation/navigation.c
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@ -222,7 +222,7 @@ static navigationFSMEvent_t nextForNonGeoStates(void);
void initializeRTHSanityChecker(const fpVector3_t * pos); void initializeRTHSanityChecker(const fpVector3_t * pos);
bool validateRTHSanityChecker(void); bool validateRTHSanityChecker(void);
static void OverRideRTHAtitudePreset(void); static void overrideRTHAtitudePreset(void);
/*************************************************************************************************/ /*************************************************************************************************/
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState);
@ -1086,7 +1086,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
{ {
navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
posControl.flags.CanOverRideRTHAlt = false; //prevent unwanted override if AltHold selected at RTH initialize posControl.flags.canOverrideRTHAlt = false; //prevent unwanted override if AltHold selected at RTH initialize
if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || (posControl.flags.estPosStatus != EST_TRUSTED) || !STATE(GPS_FIX_HOME)) { if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || (posControl.flags.estPosStatus != EST_TRUSTED) || !STATE(GPS_FIX_HOME)) {
// Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing // Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
@ -1150,20 +1150,20 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
} }
} }
static void OverRideRTHAtitudePreset(void) static void overrideRTHAtitudePreset(void)
{ {
if (!navConfig()->general.flags.rth_alt_control_override) { if (!navConfig()->general.flags.rth_alt_control_override) {
return; return;
} }
if (!IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) { if (!IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
posControl.flags.CanOverRideRTHAlt = true; posControl.flags.canOverrideRTHAlt = true;
} }
else { else {
if (posControl.flags.CanOverRideRTHAlt && !posControl.flags.forcedRTHActivated) { if (posControl.flags.canOverrideRTHAlt && !posControl.flags.forcedRTHActivated) {
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z; posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude; posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
posControl.flags.CanOverRideRTHAlt = false; posControl.flags.canOverrideRTHAlt = false;
} }
} }
} }
@ -1172,7 +1172,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
{ {
UNUSED(previousState); UNUSED(previousState);
OverRideRTHAtitudePreset(); overrideRTHAtitudePreset();
if ((posControl.flags.estHeadingStatus == EST_NONE)) { if ((posControl.flags.estHeadingStatus == EST_NONE)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
@ -1248,7 +1248,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
{ {
UNUSED(previousState); UNUSED(previousState);
OverRideRTHAtitudePreset(); overrideRTHAtitudePreset();
if ((posControl.flags.estHeadingStatus == EST_NONE)) { if ((posControl.flags.estHeadingStatus == EST_NONE)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;

2
src/main/navigation/navigation_private.h
View file

@ -87,7 +87,7 @@ typedef struct navigationFlags_s {
bool isTerrainFollowEnabled; // Does iNav use rangefinder for terrain following (adjusting baro altitude target according to rangefinders readings) bool isTerrainFollowEnabled; // Does iNav use rangefinder for terrain following (adjusting baro altitude target according to rangefinders readings)
bool forcedRTHActivated; bool forcedRTHActivated;
bool CanOverRideRTHAlt; //RTH climb altitude override possible bool canOverrideRTHAlt; //RTH climb altitude override is possible
} navigationFlags_t; } navigationFlags_t;
typedef enum { typedef enum {