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breadoven 2021-11-29 23:30:08 +00:00
parent 0d360be497
commit d16fa16572
4 changed files with 18 additions and 39 deletions
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7
src/main/navigation/navigation_fixedwing.c
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@ -277,10 +277,9 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
// If angular visibility of a waypoint is less than 30deg, don't calculate circular loiter, go straight to the target
#define TAN_15DEG 0.26795f
bool needToCalculateCircularLoiter = (isApproachingLastWaypoint() || isWaypointWait())
&& (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG))
&& (distanceToActualTarget > 50.0f)
&& !FLIGHT_MODE(NAV_COURSE_HOLD_MODE);
bool needToCalculateCircularLoiter = isApproachingHoldPosition() &&
(distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) &&
(distanceToActualTarget > 50.0f);
// Calculate virtual position for straight movement
if (needToCalculateCircularLoiter) {