Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-17 13:25:27 +03:00
Code Issues Wiki Activity

Update navigation.c

Browse source 
Reduced stick hold delay time to 1s and limited climb first override to fixed wing only
This commit is contained in:
breadoven 2021-04-13 23:16:03 +01:00
parent 2a01175e0e
commit e8dc880b5c
1 changed files with 5 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

11
src/main/navigation/navigation.c
View file

@ -2454,24 +2454,23 @@ void updateHomePosition(void)
/* ----------------------------------------------------------- /* -----------------------------------------------------------
* Override RTH preset altitude and Climb First option * Override RTH preset altitude and Climb First option
* using Pitch/Roll stick held for > 2 seconds * using Pitch/Roll stick held for > 1 seconds
* Climb First override limited to Fixed Wing only
*-----------------------------------------------------------*/ *-----------------------------------------------------------*/
static bool rthAltControlStickOverrideCheck(unsigned axis) static bool rthAltControlStickOverrideCheck(unsigned axis)
{ {
if (!navConfig()->general.flags.rth_alt_control_override || posControl.flags.forcedRTHActivated) { if (!navConfig()->general.flags.rth_alt_control_override || posControl.flags.forcedRTHActivated || (axis == ROLL && STATE(MULTIROTOR))) {
return false; return false;
} }
static timeMs_t rthOverrideStickHoldStartTime[2]; static timeMs_t rthOverrideStickHoldStartTime[2];
if (rxGetChannelValue(axis) > rxConfig()->maxcheck) { if (rxGetChannelValue(axis) > rxConfig()->maxcheck) {
timeDelta_t holdTime = millis() - rthOverrideStickHoldStartTime[axis]; timeDelta_t holdTime = millis() - rthOverrideStickHoldStartTime[axis];
if (!rthOverrideStickHoldStartTime[axis]) { if (!rthOverrideStickHoldStartTime[axis]) {
rthOverrideStickHoldStartTime[axis] = millis(); rthOverrideStickHoldStartTime[axis] = millis();
} else if (ABS(2500 - holdTime) < 500) { // 2s delay to activate, activation duration limited to 1 sec } else if (ABS(1500 - holdTime) < 500) { // 1s delay to activate, activation duration limited to 1 sec
if (axis == PITCH) { // PITCH down to override preset altitude reset to current altitude if (axis == PITCH) { // PITCH down to override preset altitude reset to current altitude
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z; posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude; posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
return true; return true;