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Refactor and fix RoC/RoD -> altitude controller; Remove surface tracking controller
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4 changed files with 45 additions and 67 deletions
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@ -83,10 +83,14 @@ bool adjustFixedWingAltitudeFromRCInput(void)
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if (rcAdjustment) {
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// set velocity proportional to stick movement
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float rcClimbRate = -rcAdjustment * navConfig()->general.max_manual_climb_rate / (500.0f - rcControlsConfig()->alt_hold_deadband);
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updateAltitudeTargetFromClimbRate(rcClimbRate, CLIMB_RATE_RESET_SURFACE_TARGET);
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updateClimbRateToAltitudeController(rcClimbRate, ROC_TO_ALT_NORMAL);
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return true;
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}
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else {
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// Adjusting finished - reset desired position to stay exactly where pilot released the stick
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if (posControl.flags.isAdjustingAltitude) {
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updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET);
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}
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return false;
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}
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}
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