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fix loiter detection FW + tweaks

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This commit is contained in:
breadoven 2023-03-27 21:42:01 +01:00
parent 5a454a3400
commit a0456565ac
3 changed files with 8 additions and 6 deletions
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5
src/main/navigation/navigation_fixedwing.c
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@ -160,8 +160,8 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
float maxClimbDeciDeg = DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle);
const float minDiveDeciDeg = -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle);
// Reduce max allowed climb pitch if performing loiter climb
if (isNavHoldPositionActive()) {
// Reduce max allowed climb pitch if performing loiter (stall prevention)
if (needToCalculateCircularLoiter) {
maxClimbDeciDeg = maxClimbDeciDeg * 0.67f;
}
@ -765,6 +765,7 @@ void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
rcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
if (posControl.flags.estAltStatus >= EST_USABLE) {
// target min descent rate 10m above takeoff altitude
updateClimbRateToAltitudeController(-navConfig()->general.emerg_descent_rate, 1000, ROC_TO_ALT_TARGET);
applyFixedWingAltitudeAndThrottleController(currentTimeUs);