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Merge pull request #9462 from breadoven/abo_circularloiter_fix

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Fixed wing RC altitude adjustment fix
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breadoven 2023-11-08 19:37:41 +00:00 • committed by GitHub
commit a0b2844012
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src/main/navigation/navigation_fixedwing.c
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@ -518,8 +518,8 @@ void applyFixedWingPositionController(timeUs_t currentTimeUs)
// POSITION_TARGET_UPDATE_RATE_HZ should be chosen keeping in mind that position target shouldn't be reached until next pos update occurs
// FIXME: verify the above
calculateVirtualPositionTarget_FW(HZ2S(MIN_POSITION_UPDATE_RATE_HZ) * 2);
updatePositionHeadingController_FW(currentTimeUs, deltaMicrosPositionUpdate);
needToCalculateCircularLoiter = false;
}
else {
// Position update has not occurred in time (first iteration or glitch), reset altitude controller