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Add sticks restriction to continuous trim

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This commit is contained in:
Alexander van Saase 2021-06-05 11:31:16 +02:00
parent cf7d62a350
commit 81fdf6d5ae
9 changed files with 36 additions and 23 deletions
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4
src/main/navigation/navigation_fw_launch.c
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@ -251,7 +251,7 @@ static inline bool isLaunchMaxAltitudeReached(void)
static inline bool areSticksMoved(timeMs_t initialTime, timeUs_t currentTimeUs)
{
return (initialTime + currentStateElapsedMs(currentTimeUs)) > navConfig()->fw.launch_min_time && areSticksDeflectedMoreThanPosHoldDeadband();
return (initialTime + currentStateElapsedMs(currentTimeUs)) > navConfig()->fw.launch_min_time && areSticksDeflected();
}
static void resetPidsIfNeeded(void) {
@ -435,7 +435,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs);
const timeMs_t endTimeMs = navConfig()->fw.launch_end_time;
if (areSticksDeflectedMoreThanPosHoldDeadband()) {
if (areSticksDeflected()) {
return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_IDLE state
}
if (elapsedTimeMs > endTimeMs) {