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Code Issues Wiki Activity

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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4
src/main/navigation/navigation.c
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@ -797,6 +797,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
return NAV_FSM_EVENT_SWITCH_TO_IDLE; return NAV_FSM_EVENT_SWITCH_TO_IDLE;
} }
// 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 // Reset altitude and position controllers if necessary
if ((prevFlags & NAV_CTL_POS) == 0) { if ((prevFlags & NAV_CTL_POS) == 0) {
resetPositionController(); resetPositionController();
@ -807,8 +809,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
setupAltitudeController(); 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) {
// If close to home - reset home position and land // If close to home - reset home position and land
if (posControl.homeDistance < navConfig()->general.min_rth_distance) { if (posControl.homeDistance < navConfig()->general.min_rth_distance) {
setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING); setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);