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Refactor and fix RoC/RoD -> altitude controller; Remove surface tracking controller

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Konstantin Sharlaimov (DigitalEntity) 2017-05-13 00:56:47 +10:00
parent 29df2b4f0f
commit ba5c870e94
4 changed files with 45 additions and 67 deletions
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6
src/main/navigation/navigation_fixedwing.c
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@ -83,10 +83,14 @@ bool adjustFixedWingAltitudeFromRCInput(void)
if (rcAdjustment) {
// set velocity proportional to stick movement
float rcClimbRate = -rcAdjustment * navConfig()->general.max_manual_climb_rate / (500.0f - rcControlsConfig()->alt_hold_deadband);
updateAltitudeTargetFromClimbRate(rcClimbRate, CLIMB_RATE_RESET_SURFACE_TARGET);
updateClimbRateToAltitudeController(rcClimbRate, ROC_TO_ALT_NORMAL);
return true;
}
else {
// Adjusting finished - reset desired position to stay exactly where pilot released the stick
if (posControl.flags.isAdjustingAltitude) {
updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET);
}
return false;
}
}