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Update navigation.c

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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
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9
src/main/navigation/navigation.c
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@ -2454,23 +2454,22 @@ void updateHomePosition(void)
/* -----------------------------------------------------------
* 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)
{
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;
}
static timeMs_t rthOverrideStickHoldStartTime[2];
if (rxGetChannelValue(axis) > rxConfig()->maxcheck) {
timeDelta_t holdTime = millis() - rthOverrideStickHoldStartTime[axis];
if (!rthOverrideStickHoldStartTime[axis]) {
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
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;