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fix2

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This commit is contained in:
JuliooCesarMDM 2021-06-26 13:09:20 -03:00
parent 6dce0e076e
commit 81a4788246
1 changed files with 6 additions and 4 deletions
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10
src/main/navigation/navigation_fixedwing.c
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@ -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);
}
}