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Do not raise THROTTLE during NAV_CTL_LAND when nose is UP

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Pawel Spychalski (DzikuVx) 2017-05-28 08:49:51 +02:00
parent 05cee111ff
commit df619eb551
3 changed files with 14 additions and 2 deletions
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src/main/navigation/navigation.c
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@ -506,7 +506,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_STATE_WAYPOINT_RTH_LAND] = {
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,