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Merge branch 'release_7.1.1' into abo_autolanding_landing_disarm_fix

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breadoven 2024-04-21 21:21:24 +01:00
commit 814f6878cd
26 changed files with 1422 additions and 102 deletions
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153
src/main/navigation/navigation.c
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@ -328,8 +328,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHED(navigationFSMState_t previousState);
@ -424,7 +424,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
.mwState = MW_NAV_STATE_HOLD_INFINIT,
.mwError = MW_NAV_ERROR_NONE,
@ -439,7 +439,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
.mwState = MW_NAV_STATE_HOLD_INFINIT,
.mwError = MW_NAV_ERROR_NONE,
@ -586,7 +586,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
[NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK] = NAV_STATE_RTH_TRACKBACK,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING] = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
@ -595,7 +595,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
.onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, // allow pos adjustment while climbind to safe alt
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, // allow pos adjustment while climbind to safe alt
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_RTH_CLIMB,
.mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
@ -635,13 +635,13 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_RTH_ENROUTE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HEAD_HOME, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
@ -652,37 +652,37 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}
},
[NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = {
.persistentId = NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
[NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING] = {
.persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
.timeoutMs = 500,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_SETTLE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_HOME,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME] = NAV_STATE_RTH_LOITER_ABOVE_HOME,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
}
},
[NAV_STATE_RTH_HOVER_ABOVE_HOME] = {
.persistentId = NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME,
[NAV_STATE_RTH_LOITER_ABOVE_HOME] = {
.persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HOVER_ABOVE_HOME,
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LOITER_ABOVE_HOME,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
@ -696,20 +696,20 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LANDING, // re-process state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_FINISHING,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_MIXERAT] = NAV_STATE_MIXERAT_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING] = NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
[NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_HOME,
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LANDING, // re-process state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_FINISHING,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_MIXERAT] = NAV_STATE_MIXERAT_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING] = NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
[NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME] = NAV_STATE_RTH_LOITER_ABOVE_HOME,
}
},
@ -717,7 +717,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,
@ -828,7 +828,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME, // There is no state for timed hold?
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_HOLD_TIMED,
.mwError = MW_NAV_ERROR_NONE,
@ -849,7 +849,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,
@ -887,7 +887,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_WP_ENROUTE,
.mwError = MW_NAV_ERROR_FINISH,
@ -908,7 +908,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_EMERGENCY_LANDING,
.mwError = MW_NAV_ERROR_LANDING,
@ -926,7 +926,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_EMERGENCY_LANDING,
.mwError = MW_NAV_ERROR_LANDING,
@ -944,7 +944,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
.timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LANDED,
.mwError = MW_NAV_ERROR_LANDING,
@ -1053,7 +1053,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
.mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE,
@ -1074,7 +1074,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
.mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE,
@ -1264,7 +1264,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(n
}
// Prepare position controller if idle or current Mode NOT active in position hold state
if (previousState != NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_HOVER_ABOVE_HOME &&
if (previousState != NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_LOITER_ABOVE_HOME &&
previousState != NAV_STATE_RTH_LANDING && previousState != NAV_STATE_WAYPOINT_RTH_LAND &&
previousState != NAV_STATE_WAYPOINT_FINISHED && previousState != NAV_STATE_WAYPOINT_HOLD_TIME)
{
@ -1445,7 +1445,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
setHomePosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING, NAV_HOME_VALID_ALL);
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING; // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING
}
else {
// Switch to RTH trackback
@ -1519,8 +1519,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
initializeRTHSanityChecker();
}
// Save initial home distance for future use
// Save initial home distance and direction for future use
posControl.rthState.rthInitialDistance = posControl.homeDistance;
posControl.activeWaypoint.bearing = posControl.homeDirection;
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL);
if (navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING_LEGACY)) {
@ -1634,7 +1635,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
if ((posControl.flags.estPosStatus >= EST_USABLE)) {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL);
if (isWaypointReached(tmpHomePos, 0)) {
if (isWaypointReached(tmpHomePos, &posControl.activeWaypoint.bearing)) {
// Successfully reached position target - update XYZ-position
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
@ -1643,7 +1644,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
posControl.rthState.rthLinearDescentActive = false;
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING
} else {
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_XY);
return NAV_FSM_EVENT_NONE;
@ -1657,7 +1658,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState)
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING(navigationFSMState_t previousState)
{
UNUSED(previousState);
@ -1691,7 +1692,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
if (!pauseLanding && ((ABS(wrap_18000(posControl.rthState.homePosition.heading - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY))) {
resetLandingDetector(); // force reset landing detector just in case
updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME; // success = land
} else {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
@ -1699,7 +1700,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState)
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME(navigationFSMState_t previousState)
{
UNUSED(previousState);
@ -1708,7 +1709,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(na
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_HOVER);
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_LOITER);
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z);
return NAV_FSM_EVENT_NONE;
@ -2577,7 +2578,7 @@ static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode)
posControl.rthState.homeTmpWaypoint.z = posControl.rthState.rthFinalAltitude;
break;
case RTH_HOME_FINAL_HOVER:
case RTH_HOME_FINAL_LOITER:
if (navConfig()->general.rth_home_altitude) {
posControl.rthState.homeTmpWaypoint.z = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
}
@ -2862,30 +2863,28 @@ static bool getLocalPosNextWaypoint(fpVector3_t * nextWpPos)
/*-----------------------------------------------------------
* Check if waypoint is/was reached.
* waypointBearing stores initial bearing to waypoint
* 'waypointBearing' stores initial bearing to waypoint.
*-----------------------------------------------------------*/
static bool isWaypointReached(const fpVector3_t * waypointPos, const int32_t * waypointBearing)
{
posControl.wpDistance = calculateDistanceToDestination(waypointPos);
// Airplane will do a circular loiter at hold waypoints and might never approach them closer than waypoint_radius
// Check within 10% margin of circular loiter radius
if (STATE(AIRPLANE) && isNavHoldPositionActive() && posControl.wpDistance <= (navConfig()->fw.loiter_radius * 1.10f)) {
return true;
}
// Check if waypoint was missed based on bearing to waypoint exceeding given angular limit relative to initial waypoint bearing.
// Default angular limit = 100 degs with a reduced limit of 60 degs used if fixed wing waypoint turn smoothing option active
uint16_t relativeBearingTargetAngle = 10000;
if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP || posControl.flags.rthTrackbackActive) {
// If WP turn smoothing CUT option used WP is reached when start of turn is initiated
if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT && posControl.flags.wpTurnSmoothingActive) {
if (STATE(AIRPLANE) && posControl.flags.wpTurnSmoothingActive) {
// If WP mode turn smoothing CUT option used waypoint is reached when start of turn is initiated
if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT) {
posControl.flags.wpTurnSmoothingActive = false;
return true;
}
// Check if waypoint was missed based on bearing to WP exceeding 100 degrees relative to waypoint Yaw
// Same method for turn smoothing option but relative bearing set at 60 degrees
uint16_t relativeBearing = posControl.flags.wpTurnSmoothingActive ? 6000 : 10000;
if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearing) {
return true;
}
relativeBearingTargetAngle = 6000;
}
if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearingTargetAngle) {
return true;
}
return posControl.wpDistance <= (navConfig()->general.waypoint_radius);
@ -3463,9 +3462,6 @@ void updateLandingStatus(timeMs_t currentTimeMs)
}
resetLandingDetector();
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
}
return;
}
@ -4085,16 +4081,7 @@ bool isLastMissionWaypoint(void)
/* Checks if Nav hold position is active */
bool isNavHoldPositionActive(void)
{
// WP mode last WP hold and Timed hold positions
if (FLIGHT_MODE(NAV_WP_MODE)) {
return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED;
}
// RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
// Also hold position during emergency landing if position valid
return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
FLIGHT_MODE(NAV_POSHOLD_MODE) ||
(posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) ||
navigationIsExecutingAnEmergencyLanding();
return navGetCurrentStateFlags() & NAV_CTL_HOLD;
}
float getActiveSpeed(void)