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This commit is contained in:
breadoven 2022-12-01 12:38:54 +00:00
parent 4f49dfb621
commit a7cef4708e
11 changed files with 40 additions and 45 deletions
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17
src/main/navigation/navigation_fw_launch.c
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@ -248,11 +248,6 @@ static void applyThrottleIdleLogic(bool forceMixerIdle)
}
}
static inline bool isThrottleLow(void)
{
return calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW;
}
static inline bool isLaunchMaxAltitudeReached(void)
{
return (navConfig()->fw.launch_max_altitude > 0) && (getEstimatedActualPosition(Z) >= navConfig()->fw.launch_max_altitude);
@ -272,7 +267,7 @@ static inline bool isProbablyNotFlying(void)
static void resetPidsIfNeeded(void) {
// Don't use PID I-term and reset TPA filter until motors are started or until flight is detected
if (isProbablyNotFlying() || fwLaunch.currentState < FW_LAUNCH_STATE_MOTOR_SPINUP || (navConfig()->fw.launch_manual_throttle && isThrottleLow())) {
if (isProbablyNotFlying() || fwLaunch.currentState < FW_LAUNCH_STATE_MOTOR_SPINUP || (navConfig()->fw.launch_manual_throttle && throttleStickIsLow())) {
pidResetErrorAccumulators();
pidResetTPAFilter();
}
@ -292,7 +287,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
{
UNUSED(currentTimeUs);
if (!isThrottleLow()) {
if (!throttleStickIsLow()) {
if (isThrottleIdleEnabled()) {
return FW_LAUNCH_EVENT_SUCCESS;
}
@ -312,7 +307,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs)
{
if (isThrottleLow()) {
if (throttleStickIsLow()) {
return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
}
@ -330,7 +325,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(tim
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs)
{
if (isThrottleLow()) {
if (throttleStickIsLow()) {
return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
}
@ -349,7 +344,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeUs_t currentTimeUs)
{
if (isThrottleLow()) {
if (throttleStickIsLow()) {
return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
}
@ -427,7 +422,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS(timeUs_t
if (navConfig()->fw.launch_manual_throttle) {
// reset timers when throttle is low or until flight detected and abort launch regardless of launch settings
if (isThrottleLow()) {
if (throttleStickIsLow()) {
fwLaunch.currentStateTimeUs = currentTimeUs;
fwLaunch.pitchAngle = 0;
if (isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband)) {