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Some cleanups

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-03-13 21:22:42 +10:00
parent 8b7a14aea7
commit 7ce1872b25
1 changed files with 11 additions and 11 deletions
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22
src/main/navigation/navigation.c
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@ -797,18 +797,18 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
// Reset altitude and position controllers if necessary
if ((prevFlags & NAV_CTL_POS) == 0) {
resetPositionController();
}
if ((prevFlags & NAV_CTL_ALT) == 0) {
resetAltitudeController();
setupAltitudeController();
}
// If we have valid position sensor or configured to ignore it's loss at initial stage - continue
if (posControl.flags.hasValidPositionSensor || navConfig()->general.flags.rth_climb_ignore_emerg) {
// Reset altitude and position controllers if necessary
if ((prevFlags & NAV_CTL_POS) == 0) {
resetPositionController();
}
if ((prevFlags & NAV_CTL_ALT) == 0) {
resetAltitudeController();
setupAltitudeController();
}
// If close to home - reset home position and land
if (posControl.homeDistance < navConfig()->general.min_rth_distance) {
setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);
@ -853,7 +853,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
if (!posControl.flags.hasValidHeadingSensor) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
// If we have valid pos sensor OR we are configured to ignore GPS loss
if (posControl.flags.hasValidPositionSensor || !checkForPositionSensorTimeout() || navConfig()->general.flags.rth_climb_ignore_emerg) {
if (((posControl.actualState.pos.V.Z - posControl.homeWaypointAbove.pos.V.Z) > -50.0f) || (!navConfig()->general.flags.rth_climb_first)) {