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Merge branch 'master' of https://github.com/iNavFlight/inav into submit-gps-fix-estimation

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This commit is contained in:
Roman Lut 2023-11-03 14:40:40 +01:00
commit 9a633d1337
32 changed files with 960 additions and 368 deletions
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22
src/main/navigation/navigation.c
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@ -3905,9 +3905,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
/* Soaring mode, disables altitude control in Position hold and Course hold modes.
* Pitch allowed to freefloat within defined Angle mode deadband */
if (IS_RC_MODE_ACTIVE(BOXSOARING) && (FLIGHT_MODE(NAV_POSHOLD_MODE) || FLIGHT_MODE(NAV_COURSE_HOLD_MODE))) {
if (!FLIGHT_MODE(SOARING_MODE)) {
ENABLE_FLIGHT_MODE(SOARING_MODE);
}
ENABLE_FLIGHT_MODE(SOARING_MODE);
} else {
DISABLE_FLIGHT_MODE(SOARING_MODE);
}
@ -4582,3 +4580,21 @@ int32_t navigationGetHeadingError(void)
{
return wrap_18000(posControl.desiredState.yaw - posControl.actualState.cog);
}
int8_t navCheckActiveAngleHoldAxis(void)
{
int8_t activeAxis = -1;
if (IS_RC_MODE_ACTIVE(BOXANGLEHOLD)) {
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
bool altholdActive = stateFlags & NAV_REQUIRE_ANGLE_FW && !(stateFlags & NAV_REQUIRE_ANGLE);
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && !FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
activeAxis = FD_PITCH;
} else if (altholdActive) {
activeAxis = FD_ROLL;
}
}
return activeAxis;
}