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Update navigation.c

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This commit is contained in:
breadoven 2022-10-27 21:27:29 +01:00
parent 2056a4220f
commit b3f6e6c1e7
1 changed files with 11 additions and 1 deletions
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12
src/main/navigation/navigation.c
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@ -2643,7 +2643,12 @@ static bool rthAltControlStickOverrideCheck(unsigned axis)
* --------------------------------------------------------------------------------- */
static void updateRthTrackback(bool forceSaveTrackPoint)
{
if (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_OFF || FLIGHT_MODE(NAV_RTH_MODE) || !ARMING_FLAG(ARMED)) {
static bool suspendTracking = false;
if (!(isNavHoldPositionActive() && STATE(AIRPLANE)) && suspendTracking) {
suspendTracking = false;
}
if (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_OFF || FLIGHT_MODE(NAV_RTH_MODE) || !ARMING_FLAG(ARMED || suspendTracking)) {
return;
}
@ -2692,6 +2697,11 @@ static bool rthAltControlStickOverrideCheck(unsigned axis)
saveTrackpoint = calculateDistanceToDestination(&posControl.rthTBPointsList[posControl.activeRthTBPointIndex]) > METERS_TO_CENTIMETERS(20);
previousTBTripDist = posControl.totalTripDistance;
}
// Suspend tracking during loiter on fixed wing saving trackpoint when loiter enabled
if (distanceIncrement && isNavHoldPositionActive() && STATE(AIRPLANE)) {
saveTrackpoint = suspendTracking = true;
}
}
// when trackpoint store full, overwrite from start of store using 'rthTBWrapAroundCounter' to track overwrite position