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Fixes

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This commit is contained in:
breadoven 2021-05-16 18:00:45 +01:00
parent a7d3b34c85
commit c7dffe62c0
1 changed files with 5 additions and 3 deletions
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8
src/main/navigation/navigation.c
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@ -242,7 +242,7 @@ static bool isWaypointPositionReached(const fpVector3_t * pos, const bool isWayp
static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint_t * waypoint, geoAltitudeConversionMode_e altConv); static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint_t * waypoint, geoAltitudeConversionMode_e altConv);
static navigationFSMEvent_t nextForNonGeoStates(void); static navigationFSMEvent_t nextForNonGeoStates(void);
static bool isWaypointMissionValid(void); static bool isWaypointMissionValid(void);
void waypointMissionPlanner(void); void missionPlannerSetWaypoint(void);
void initializeRTHSanityChecker(const fpVector3_t * pos); void initializeRTHSanityChecker(const fpVector3_t * pos);
bool validateRTHSanityChecker(void); bool validateRTHSanityChecker(void);
@ -3440,20 +3440,22 @@ void updateWpMissionPlanner(void)
posControl.flags.wpMissionPlannerActive = true; posControl.flags.wpMissionPlannerActive = true;
if (millis() - resetTimerStart < 1000 && navConfig()->general.flags.mission_planner_reset) { if (millis() - resetTimerStart < 1000 && navConfig()->general.flags.mission_planner_reset) {
posControl.waypointCount = posControl.wpPlannerActiveWPIndex = 0; posControl.waypointCount = posControl.wpPlannerActiveWPIndex = 0;
posControl.waypointListValid = false;
posControl.wpMissionPlannerStatus = WP_PLAN_WAIT; posControl.wpMissionPlannerStatus = WP_PLAN_WAIT;
} }
if (positionTrusted && posControl.wpMissionPlannerStatus != WP_PLAN_FULL) { if (positionTrusted && posControl.wpMissionPlannerStatus != WP_PLAN_FULL) {
waypointMissionPlanner(); missionPlannerSetWaypoint();
} else { } else {
posControl.wpMissionPlannerStatus = posControl.wpMissionPlannerStatus == WP_PLAN_FULL ? WP_PLAN_FULL : WP_PLAN_WAIT; posControl.wpMissionPlannerStatus = posControl.wpMissionPlannerStatus == WP_PLAN_FULL ? WP_PLAN_FULL : WP_PLAN_WAIT;
} }
} else if (posControl.flags.wpMissionPlannerActive) { } else if (posControl.flags.wpMissionPlannerActive) {
posControl.flags.wpMissionPlannerActive = false; posControl.flags.wpMissionPlannerActive = false;
posControl.activeWaypointIndex = 0;
resetTimerStart = millis(); resetTimerStart = millis();
} }
} }
void waypointMissionPlanner(void) void missionPlannerSetWaypoint(void)
{ {
static bool boxWPModeIsReset = true; static bool boxWPModeIsReset = true;