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Fix a bug in RTH altitude calculation. Bug is observed as RTH never finishing the CLIMB stage

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-11-24 14:58:21 +10:00
parent 5e2a537d8c
commit e33dda884d
3 changed files with 22 additions and 33 deletions
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38
src/main/flight/navigation_rewrite_private.h
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@ -153,29 +153,29 @@ typedef enum {
NAV_STATE_POSHOLD_3D_INITIALIZE, // 6
NAV_STATE_POSHOLD_3D_IN_PROGRESS, // 7
NAV_STATE_RTH_INITIALIZE,
NAV_STATE_RTH_INITIALIZE, // 8
NAV_STATE_RTH_2D_INITIALIZE,
NAV_STATE_RTH_2D_HEAD_HOME,
NAV_STATE_RTH_2D_FINISHING,
NAV_STATE_RTH_2D_FINISHED,
NAV_STATE_RTH_2D_INITIALIZE, // 9
NAV_STATE_RTH_2D_HEAD_HOME, // 10
NAV_STATE_RTH_2D_FINISHING, // 11
NAV_STATE_RTH_2D_FINISHED, // 12
NAV_STATE_RTH_3D_INITIALIZE,
NAV_STATE_RTH_3D_CLIMB_TO_SAFE_ALT,
NAV_STATE_RTH_3D_HEAD_HOME,
NAV_STATE_RTH_3D_HOVER_PRIOR_TO_LANDING,
NAV_STATE_RTH_3D_LANDING,
NAV_STATE_RTH_3D_FINISHING,
NAV_STATE_RTH_3D_FINISHED,
NAV_STATE_RTH_3D_INITIALIZE, // 13
NAV_STATE_RTH_3D_CLIMB_TO_SAFE_ALT, // 14
NAV_STATE_RTH_3D_HEAD_HOME, // 15
NAV_STATE_RTH_3D_HOVER_PRIOR_TO_LANDING, // 16
NAV_STATE_RTH_3D_LANDING, // 17
NAV_STATE_RTH_3D_FINISHING, // 18
NAV_STATE_RTH_3D_FINISHED, // 19
NAV_STATE_WAYPOINT_INITIALIZE,
NAV_STATE_WAYPOINT_IN_PROGRESS,
NAV_STATE_WAYPOINT_REACHED,
NAV_STATE_WAYPOINT_FINISHED,
NAV_STATE_WAYPOINT_INITIALIZE, // 20
NAV_STATE_WAYPOINT_IN_PROGRESS, // 21
NAV_STATE_WAYPOINT_REACHED, // 22
NAV_STATE_WAYPOINT_FINISHED, // 23
NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
NAV_STATE_EMERGENCY_LANDING_FINISHED,
NAV_STATE_EMERGENCY_LANDING_INITIALIZE, // 24
NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, // 25
NAV_STATE_EMERGENCY_LANDING_FINISHED, // 26
NAV_STATE_COUNT,
} navigationFSMState_t;