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Update navigation.c

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RTH Alt Override
This commit is contained in:
breadoven 2020-09-25 13:50:40 +01:00
parent 5b2c02b428
commit e09724bd3a
1 changed files with 21 additions and 0 deletions
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21
src/main/navigation/navigation.c
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@ -221,6 +221,10 @@ static navigationFSMEvent_t nextForNonGeoStates(void);
void initializeRTHSanityChecker(const fpVector3_t * pos); void initializeRTHSanityChecker(const fpVector3_t * pos);
bool validateRTHSanityChecker(void); bool validateRTHSanityChecker(void);
//AWH xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
bool RTHAltHoldOverRideFlag = false;
//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
/*************************************************************************************************/ /*************************************************************************************************/
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(navigationFSMState_t previousState);
@ -1081,6 +1085,10 @@ 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);
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)) {
@ -1147,6 +1155,19 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState) static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState)
{ {
//AWH xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
if (!IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
RTHAltHoldOverRideFlag = true;
}
else {
if (RTHAltHoldOverRideFlag && !posControl.flags.forcedRTHActivated) {
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
RTHAltHoldOverRideFlag = false;
}
}
//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
UNUSED(previousState); UNUSED(previousState);
if ((posControl.flags.estHeadingStatus == EST_NONE)) { if ((posControl.flags.estHeadingStatus == EST_NONE)) {