Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-26 01:35:35 +03:00
Code Issues Wiki Activity

change loiter control logic

Browse source
This commit is contained in:
breadoven 2024-05-04 11:25:58 +01:00
parent 2a62aff039
commit 83de3f941d
3 changed files with 35 additions and 27 deletions
Download patch file Download diff file Expand all files Collapse all files

52
src/main/navigation/navigation.c
View file

@ -424,7 +424,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE, .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE, .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
.timeoutMs = 0, .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, .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
.mwState = MW_NAV_STATE_HOLD_INFINIT, .mwState = MW_NAV_STATE_HOLD_INFINIT,
.mwError = MW_NAV_ERROR_NONE, .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, .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
.timeoutMs = 10, .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, .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
.mwState = MW_NAV_STATE_HOLD_INFINIT, .mwState = MW_NAV_STATE_HOLD_INFINIT,
.mwError = MW_NAV_ERROR_NONE, .mwError = MW_NAV_ERROR_NONE,
@ -595,7 +595,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT, .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
.onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT, .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
.timeoutMs = 10, .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 climbing to safe alt
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_RTH_CLIMB, .mwState = MW_NAV_STATE_RTH_CLIMB,
.mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT, .mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
@ -656,7 +656,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING, .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING, .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
.timeoutMs = 500, .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, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_SETTLE, .mwState = MW_NAV_STATE_LAND_SETTLE,
.mwError = MW_NAV_ERROR_NONE, .mwError = MW_NAV_ERROR_NONE,
@ -677,7 +677,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME, .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME, .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME,
.timeoutMs = 10, .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, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_HOVER_ABOVE_HOME, .mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
.mwError = MW_NAV_ERROR_NONE, .mwError = MW_NAV_ERROR_NONE,
@ -696,7 +696,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_LANDING, .persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING, .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
.timeoutMs = 10, .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, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING, .mwError = MW_NAV_ERROR_LANDING,
@ -717,7 +717,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_FINISHING, .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING, .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
.timeoutMs = 0, .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, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING, .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? .persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME, // There is no state for timed hold?
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME,
.timeoutMs = 10, .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, .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_HOLD_TIMED, .mwState = MW_NAV_STATE_HOLD_TIMED,
.mwError = MW_NAV_ERROR_NONE, .mwError = MW_NAV_ERROR_NONE,
@ -849,7 +849,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
.timeoutMs = 10, .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, .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING, .mwError = MW_NAV_ERROR_LANDING,
@ -887,7 +887,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
.timeoutMs = 10, .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, .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_WP_ENROUTE, .mwState = MW_NAV_STATE_WP_ENROUTE,
.mwError = MW_NAV_ERROR_FINISH, .mwError = MW_NAV_ERROR_FINISH,
@ -926,7 +926,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS, .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_HOLD | NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0, .mapToFlightModes = 0,
.mwState = MW_NAV_STATE_EMERGENCY_LANDING, .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
.mwError = MW_NAV_ERROR_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, .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED, .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_HOLD | NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0, .mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LANDED, .mwState = MW_NAV_STATE_LANDED,
.mwError = MW_NAV_ERROR_LANDING, .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, .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER, .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
.timeoutMs = 10, .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, .mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE, .mwError = MW_NAV_ERROR_NONE,
@ -1074,7 +1074,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER, .persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER, .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
.timeoutMs = 10, .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, .mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE, .mwError = MW_NAV_ERROR_NONE,
@ -4081,17 +4081,21 @@ bool isLastMissionWaypoint(void)
/* Checks if Nav hold position is active */ /* Checks if Nav hold position is active */
bool isNavHoldPositionActive(void) bool isNavHoldPositionActive(void)
{ {
// WP mode last WP hold and Timed/Alt Enforce hold positions /* If the current Nav state isn't flagged as a hold point (NAV_CTL_HOLD) then
return isLastMissionWaypoint() || * waypoints are assumed to be hold points by default unless excluded as defined here */
NAV_Status.state == MW_NAV_STATE_HOLD_TIMED ||
posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME;
// RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode if (navGetCurrentStateFlags() & NAV_CTL_HOLD) {
// Also hold position during emergency landing if position valid return true;
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) || if (FLIGHT_MODE(NAV_WP_MODE)) {
navigationIsExecutingAnEmergencyLanding(); return posControl.waypointList[posControl.activeWaypointIndex].action != NAV_WP_ACTION_WAYPOINT || isLastMissionWaypoint();
}
return posControl.navState != NAV_STATE_FW_LANDING_APPROACH &&
posControl.navState != NAV_STATE_FW_LANDING_GLIDE &&
posControl.navState != NAV_STATE_FW_LANDING_FLARE &&
!posControl.flags.rthTrackbackActive;
} }
float getActiveSpeed(void) float getActiveSpeed(void)

9
src/main/navigation/navigation_fixedwing.c
View file

@ -290,9 +290,12 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
// Detemine if a circular loiter is required. // Detemine if a circular loiter is required.
// For waypoints only use circular loiter when angular visibility is > 30 degs, otherwise head straight toward target // For waypoints only use circular loiter when angular visibility is > 30 degs, otherwise head straight toward target
#define TAN_15DEG 0.26795f #define TAN_15DEG 0.26795f
needToCalculateCircularLoiter = isNavHoldPositionActive() &&
(distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) && bool loiterApproachActive = isNavHoldPositionActive() &&
(distanceToActualTarget > 50.0f); distanceToActualTarget <= (navLoiterRadius / TAN_15DEG) &&
distanceToActualTarget > 50.0f;
needToCalculateCircularLoiter = loiterApproachActive || (navGetCurrentStateFlags() & NAV_CTL_HOLD);
//if vtol landing is required, fly straight to homepoint //if vtol landing is required, fly straight to homepoint
if ((posControl.navState == NAV_STATE_RTH_HEAD_HOME) && navigationRTHAllowsLanding() && checkMixerATRequired(MIXERAT_REQUEST_LAND)){ if ((posControl.navState == NAV_STATE_RTH_HEAD_HOME) && navigationRTHAllowsLanding() && checkMixerATRequired(MIXERAT_REQUEST_LAND)){
needToCalculateCircularLoiter = false; needToCalculateCircularLoiter = false;

1
src/main/navigation/navigation_private.h
View file

@ -334,6 +334,7 @@ typedef enum {
NAV_AUTO_WP_DONE = (1 << 15), // Waypoint mission reached the last waypoint and is idling NAV_AUTO_WP_DONE = (1 << 15), // Waypoint mission reached the last waypoint and is idling
NAV_MIXERAT = (1 << 16), // MIXERAT in progress NAV_MIXERAT = (1 << 16), // MIXERAT in progress
NAV_CTL_HOLD = (1 << 17), // Nav loiter active at position
} navigationFSMStateFlags_t; } navigationFSMStateFlags_t;
typedef struct { typedef struct {