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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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4
src/main/navigation/navigation.c
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@ -56,6 +56,8 @@
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
// Multirotors:
#define MR_RTH_CLIMB_OVERSHOOT_CM 100 // target this amount of cm *above* the target altitude to ensure it is actually reached (Vz > 0 at target alt)
@ -2564,7 +2566,7 @@ void updateLandingStatus(void)
disarm(DISARM_LANDING);
} else if (!navigationIsFlyingAutonomousMode()) {
// for multirotor only - reactivate landing detector without disarm when throttle raised toward hover throttle
landingDetectorIsActive = rxGetChannelValue(THROTTLE) < (0.5 * (navConfig()->mc.hover_throttle + getThrottleIdleValue()));
landingDetectorIsActive = rxGetChannelValue(THROTTLE) < (0.5 * (currentBatteryProfile->nav.mc.hover_throttle + getThrottleIdleValue()));
}
} else if (isLandingDetected()) {
ENABLE_STATE(LANDING_DETECTED);

8
src/main/navigation/navigation_fixedwing.c
View file

@ -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;

2
src/main/navigation/navigation_multicopter.c
View file

@ -677,7 +677,7 @@ static void applyMulticopterPositionController(timeUs_t currentTimeUs)
bool isMulticopterFlying(void)
{
bool throttleCondition = rcCommand[THROTTLE] > navConfig()->mc.hover_throttle;
bool throttleCondition = rcCommand[THROTTLE] > currentBatteryProfile->nav.mc.hover_throttle;
bool gyroCondition = averageAbsGyroRates() > 7.0f;
return throttleCondition && gyroCondition;