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Update navigation.c

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This commit is contained in:
breadoven 2020-09-30 14:34:15 +01:00
parent 6db2549246
commit d24cbb161b
1 changed files with 19 additions and 12 deletions
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27
src/main/navigation/navigation.c
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@ -1084,12 +1084,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_ADJUSTING(nav
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigationFSMState_t previousState) static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigationFSMState_t previousState)
{ {
//AWH xxxxxxxxxxxxxxxxxxxxx
RTHAltHoldOverRideFlag = false;
//xxxxxxxxxxxxxxxxxxxxx
navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
posControl.flags.CanOverRideRTHAlt = false; //prevent unwanted override if AltHold selected at RTH initialize
if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || (posControl.flags.estPosStatus != EST_TRUSTED) || !STATE(GPS_FIX_HOME)) { if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || (posControl.flags.estPosStatus != EST_TRUSTED) || !STATE(GPS_FIX_HOME)) {
// Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing // Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
// If we are in dead-reckoning mode - also fail, since coordinates may be unreliable // If we are in dead-reckoning mode - also fail, since coordinates may be unreliable
@ -1152,23 +1150,30 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
} }
} }
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState) static void OverRideRTHAtitudePreset(void)
{ {
//AWH xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx if (!navConfig()->general.flags.rth_alt_control_override) {
return;
}
if (!IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) { if (!IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
RTHAltHoldOverRideFlag = true; posControl.flags.CanOverRideRTHAlt = true;
} }
else { else {
if (RTHAltHoldOverRideFlag && !posControl.flags.forcedRTHActivated) { if (posControl.flags.CanOverRideRTHAlt && !posControl.flags.forcedRTHActivated) {
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z; posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude; posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
RTHAltHoldOverRideFlag = false; posControl.flags.CanOverRideRTHAlt = false;
} }
} }
//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx }
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState)
{
UNUSED(previousState); UNUSED(previousState);
OverRideRTHAtitudePreset();
if ((posControl.flags.estHeadingStatus == EST_NONE)) { if ((posControl.flags.estHeadingStatus == EST_NONE)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
} }
@ -1243,6 +1248,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
{ {
UNUSED(previousState); UNUSED(previousState);
OverRideRTHAtitudePreset();
if ((posControl.flags.estHeadingStatus == EST_NONE)) { if ((posControl.flags.estHeadingStatus == EST_NONE)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
} }