From 81a4788246c5d773099d9eb670d56538e19b8db5 Mon Sep 17 00:00:00 2001 From: JuliooCesarMDM Date: Sat, 26 Jun 2021 13:09:20 -0300 Subject: [PATCH] fix2 --- src/main/navigation/navigation_fixedwing.c | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c index 52cd765f79..484529944a 100755 --- a/src/main/navigation/navigation_fixedwing.c +++ b/src/main/navigation/navigation_fixedwing.c @@ -655,24 +655,26 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags, // Motor has been stopped by user. Update target altitude and bypass navigation pitch/throttle control resetFixedWingAltitudeController(); setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z); - } else + } else { applyFixedWingAltitudeAndThrottleController(currentTimeUs); + } } - if (navStateFlags & NAV_CTL_POS) + if (navStateFlags & NAV_CTL_POS) { applyFixedWingPositionController(currentTimeUs); + } } else { posControl.rcAdjustment[PITCH] = 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); } //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); } }