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This commit is contained in:
breadoven 2021-07-15 09:00:24 +01:00
parent 566d971026
commit e4554fa509
3 changed files with 8 additions and 6 deletions
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8
src/main/navigation/navigation_fixedwing.c
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@ -245,18 +245,18 @@ static int8_t loiterDirection(void) {
if (pidProfile()->loiter_direction == NAV_LOITER_YAW) {
if (rcCommand[YAW] < -250) {
if (rcCommand[YAW] < -250) {
loiterDirYaw = 1; //RIGHT //yaw is contrariwise
}
if (rcCommand[YAW] > 250) {
if (rcCommand[YAW] > 250) {
loiterDirYaw = -1; //LEFT //see annexCode in fc_core.c
}
dir = loiterDirYaw;
}
if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) {
if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) {
dir *= -1;
}
@ -599,7 +599,7 @@ bool isFixedWingFlying(void)
#ifdef USE_PITOT
airspeed = pitot.airSpeed;
#endif
bool throttleCondition = rcCommand[THROTTLE] > navConfig()->fw.cruise_throttle;
bool throttleCondition = rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle;
bool velCondition = posControl.actualState.velXY > 250 || airspeed > 250;
return isImuHeadingValid() && throttleCondition && velCondition;