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updated defaults and debug removed

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-06-13 11:51:28 +02:00
parent a4d7cffe70
commit dda5d2b7bc
4 changed files with 3 additions and 21 deletions
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12
src/main/navigation/navigation.c
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@ -119,9 +119,9 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.braking_speed_threshold = 100, // Braking can become active above 1m/s
.braking_disengage_speed = 75, // Stop when speed goes below 0.75m/s
.braking_timeout = 2000, // Timeout barking after 2s
.braking_boost_factor = 0, // By default do not use boost factor
.braking_boost_factor = 100, // A 100% boost by default
.braking_boost_timeout = 750, // Timout boost after 750ms
.braking_boost_speed_threshold = 200, // Boost can happen only above 2m/s
.braking_boost_speed_threshold = 150, // Boost can happen only above 1.5m/s
.braking_boost_disengage_speed = 100, // Disable boost at 1m/s
},
@ -2002,10 +2002,7 @@ static bool adjustPositionFromRCInput(void)
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
ENABLE_STATE(NAV_CRUISE_BRAKING_LOCKED);
DEBUG_SET(DEBUG_BRAKING, 2, 1);
ENABLE_STATE(NAV_CRUISE_BRAKING);
DEBUG_SET(DEBUG_BRAKING, 0, 1);
//Set forced BRAKING disengage moment
brakingModeDisengageAt = millis() + navConfig()->mc.braking_timeout;
@ -2013,7 +2010,6 @@ static bool adjustPositionFromRCInput(void)
//If speed above threshold, start boost mode as well
if (posControl.actualState.velXY > navConfig()->mc.braking_boost_speed_threshold) {
ENABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
DEBUG_SET(DEBUG_BRAKING, 1, 1);
brakingBoostModeDisengageAt = millis() + navConfig()->mc.braking_boost_timeout;
}
@ -2025,7 +2021,6 @@ static bool adjustPositionFromRCInput(void)
(rcPitchAdjustment || rcRollAdjustment)
) {
DISABLE_STATE(NAV_CRUISE_BRAKING_LOCKED);
DEBUG_SET(DEBUG_BRAKING, 2, 0);
}
/*
@ -2037,7 +2032,6 @@ static bool adjustPositionFromRCInput(void)
brakingBoostModeDisengageAt < millis()
)) {
DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
DEBUG_SET(DEBUG_BRAKING, 1, 0);
}
/*
@ -2050,9 +2044,7 @@ static bool adjustPositionFromRCInput(void)
brakingModeDisengageAt < millis() //Braking is done to timed disengage
)) {
DISABLE_STATE(NAV_CRUISE_BRAKING);
DEBUG_SET(DEBUG_BRAKING, 0, 0);
DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
DEBUG_SET(DEBUG_BRAKING, 1, 0);
/*
* When braking is done, store current position as desired one