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Fix and simplify applyFixedWingPitchRollThrottleController()

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Should only control pitch and throttle when nav stateFlags & NAV_CTL_ALT
Needed for upcoming CRUISE 2D mode
This commit is contained in:
Michel Pastor 2018-05-31 01:17:00 +02:00
parent 83bb1b8d3a
commit b2ef281619
2 changed files with 18 additions and 45 deletions
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2
src/main/navigation/navigation.c
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@ -2648,7 +2648,7 @@ rthState_e getStateOfForcedRTH(void)
bool navigationIsControllingThrottle(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND)) || (STATE(FIXED_WING) && (stateFlags & (NAV_CTL_POS)));
return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND));
}
bool navigationIsFlyingAutonomousMode(void)