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Code Issues Wiki Activity

Logic simplification and bug that caused rubberbanding fixed

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-05-27 11:00:33 +02:00
parent fbb235489f
commit a4d7cffe70
1 changed files with 8 additions and 27 deletions
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35
src/main/navigation/navigation.c
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@ -2028,34 +2028,14 @@ static bool adjustPositionFromRCInput(void)
DEBUG_SET(DEBUG_BRAKING, 2, 0); DEBUG_SET(DEBUG_BRAKING, 2, 0);
} }
//Forced BRAKING disengage routine
if (
STATE(NAV_CRUISE_BRAKING) &&
brakingModeDisengageAt < millis()
) {
DISABLE_STATE(NAV_CRUISE_BRAKING);
DEBUG_SET(DEBUG_BRAKING, 0, 0);
DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
DEBUG_SET(DEBUG_BRAKING, 1, 0);
}
//Forced BRAKING_BOOST disengage routine
if (
STATE(NAV_CRUISE_BRAKING_BOOST) &&
brakingBoostModeDisengageAt < millis()
) {
DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
DEBUG_SET(DEBUG_BRAKING, 1, 0);
}
/* /*
* Case when speed dropped, disengage BREAKING_BOOST * Case when speed dropped, disengage BREAKING_BOOST
*/ */
if ( if (
STATE(NAV_CRUISE_BRAKING_BOOST) && STATE(NAV_CRUISE_BRAKING_BOOST) && (
posControl.actualState.velXY <= navConfig()->mc.braking_boost_disengage_speed posControl.actualState.velXY <= navConfig()->mc.braking_boost_disengage_speed ||
) { brakingBoostModeDisengageAt < millis()
)) {
DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST); DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
DEBUG_SET(DEBUG_BRAKING, 1, 0); DEBUG_SET(DEBUG_BRAKING, 1, 0);
} }
@ -2064,9 +2044,10 @@ static bool adjustPositionFromRCInput(void)
* Case when we were braking but copter finally stopped or we started to move the sticks * Case when we were braking but copter finally stopped or we started to move the sticks
*/ */
if (STATE(NAV_CRUISE_BRAKING) && ( if (STATE(NAV_CRUISE_BRAKING) && (
posControl.actualState.velXY <= navConfig()->mc.braking_disengage_speed || posControl.actualState.velXY <= navConfig()->mc.braking_disengage_speed || //We stopped
rcPitchAdjustment || rcPitchAdjustment || //Moved pitch stick
rcRollAdjustment rcRollAdjustment || //Moved roll stick
brakingModeDisengageAt < millis() //Braking is done to timed disengage
)) { )) {
DISABLE_STATE(NAV_CRUISE_BRAKING); DISABLE_STATE(NAV_CRUISE_BRAKING);
DEBUG_SET(DEBUG_BRAKING, 0, 0); DEBUG_SET(DEBUG_BRAKING, 0, 0);