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check gps

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This commit is contained in:
Alexander van Saase 2021-03-20 20:49:48 +01:00
parent 749111df54
commit c2a98768c0
1 changed files with 3 additions and 1 deletions
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4
src/main/navigation/navigation_fw_launch.c
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@ -48,6 +48,8 @@
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "io/gps.h"
#define SWING_LAUNCH_MIN_ROTATION_RATE DEGREES_TO_RADIANS(100) // expect minimum 100dps rotation rate
#define LAUNCH_MOTOR_IDLE_SPINUP_TIME 1500 // ms
#define UNUSED(x) ((void)(x))
@ -316,7 +318,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeU
const bool isBungeeLaunched = isForwardAccelerationHigh && isAircraftAlmostLevel;
const bool isSwingLaunched = (swingVelocity > navConfig()->fw.launch_velocity_thresh) && (imuMeasuredAccelBF.x > 0);
const bool isForwardLaunched = (gpsSol.groundSpeed > navConfig()->fw.launch_velocity_thresh) && (imuMeasuredAccelBF.x > 0);
const bool isForwardLaunched = isGPSHeadingValid() && (imuMeasuredAccelBF.x > 0);
applyThrottleIdleLogic(false);