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Update navigation.c

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Fix ABS build error
This commit is contained in:
breadoven 2020-11-25 22:24:57 +00:00
parent 1b3ebd4475
commit b3005fbc3c
1 changed files with 4 additions and 2 deletions
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6
src/main/navigation/navigation.c
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@ -2526,12 +2526,14 @@ static void rthAltControlStickOverrideCheck(unsigned axis)
} }
static timeMs_t rthOverrideStickHoldStartTime[2]; static timeMs_t rthOverrideStickHoldStartTime[2];
timeMs_t currentTime = millis();
if (rxGetChannelValue(axis) > rxConfig()->maxcheck) { if (rxGetChannelValue(axis) > rxConfig()->maxcheck) {
timeDelta_t holdTime = millis() - rthOverrideStickHoldStartTime[axis];
if (!rthOverrideStickHoldStartTime[axis]) { if (!rthOverrideStickHoldStartTime[axis]) {
rthOverrideStickHoldStartTime[axis] = millis(); rthOverrideStickHoldStartTime[axis] = millis();
} else if (ABS(2500 - (currentTime - rthOverrideStickHoldStartTime[axis])) < 500) { } else if (ABS(2500 - holdTime) < 500) {
if (axis == PITCH) { // pitch down to override preset altitude reset to current altitude if (axis == PITCH) { // pitch down to override preset altitude reset to current altitude
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z; posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude; posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;