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Scavanger 2023-11-09 16:45:03 -03:00
parent 9370fdd49f
commit d7b36611f9
6 changed files with 69 additions and 31 deletions
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8
src/main/navigation/navigation.c
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@ -2310,8 +2310,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(nav
if (isRollPitchStickDeflected(navConfig()->fw.launch_land_abort_deadband)) {
return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT;
}
if (getEstimatedActualPosition(Z) <= safeHomeConfig(safehome_index)->landAltMSL + navFwAutolandConfig()->glideAltitude - GPS_home.alt) {
if (getEstimatedActualPosition(Z) <= safeHomeConfig(safehome_index)->landAlt + navFwAutolandConfig()->glideAltitude - (safeHomeConfig(safehome_index)->isSeaLevelRef ? GPS_home.alt : 0)) {
resetPositionController();
posControl.fwLandState = FW_AUTOLAND_STATE_GLIDE;
return NAV_FSM_EVENT_SUCCESS;
@ -4986,8 +4986,8 @@ int32_t navigationGetHeadingError(void)
static void resetFwAutoland(void)
{
posControl.fwLandAltAgl = safeHomeConfig(safehome_index)->landAltMSL - GPS_home.alt;
posControl.fwLandAproachAltAgl = safeHomeConfig(safehome_index)->approachAltMSL + posControl.fwLandAltAgl - GPS_home.alt;
posControl.fwLandAltAgl = safeHomeConfig(safehome_index)->isSeaLevelRef ? safeHomeConfig(safehome_index)->landAlt - GPS_home.alt : safeHomeConfig(safehome_index)->landAlt;
posControl.fwLandAproachAltAgl = safeHomeConfig(safehome_index)->isSeaLevelRef ? safeHomeConfig(safehome_index)->approachAlt - GPS_home.alt : safeHomeConfig(safehome_index)->approachAlt;
posControl.fwLandLoiterStartTime = 0;
posControl.fwLandWpReached = false;
}