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initial build

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This commit is contained in:
breadoven 2022-07-12 12:56:33 +01:00
parent c2e702f2b8
commit d9a187c44d
5 changed files with 13 additions and 6 deletions
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5
src/main/navigation/navigation_fw_launch.c
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@ -260,7 +260,8 @@ static inline bool isLaunchMaxAltitudeReached(void)
static inline bool areSticksMoved(timeMs_t initialTime, timeUs_t currentTimeUs)
{
return (initialTime + currentStateElapsedMs(currentTimeUs)) > navConfig()->fw.launch_min_time && isRollPitchStickDeflected(LAUNCH_ABORT_STICK_DEADBAND);
return (initialTime + currentStateElapsedMs(currentTimeUs)) > navConfig()->fw.launch_min_time &&
isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband);
}
static void resetPidsIfNeeded(void) {
@ -438,7 +439,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs);
const timeMs_t endTimeMs = navConfig()->fw.launch_end_time;
if (elapsedTimeMs > endTimeMs || isRollPitchStickDeflected(LAUNCH_ABORT_STICK_DEADBAND)) {
if (elapsedTimeMs > endTimeMs || isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband)) {
return FW_LAUNCH_EVENT_SUCCESS; // End launch go to FW_LAUNCH_STATE_FLYING state
}
else {