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Merge remote-tracking branch 'upstream/master' into abo_emerg_flight_rearm

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breadoven 2023-10-23 20:19:04 +01:00
commit ea2b1897f0
244 changed files with 4043 additions and 1957 deletions
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5
src/main/navigation/navigation_fixedwing.c
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@ -39,6 +39,7 @@
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/mixer_profile.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
@ -293,6 +294,10 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
needToCalculateCircularLoiter = isNavHoldPositionActive() &&
(distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) &&
(distanceToActualTarget > 50.0f);
//if vtol landing is required, fly straight to homepoint
if ((posControl.navState == NAV_STATE_RTH_HEAD_HOME) && navigationRTHAllowsLanding() && checkMixerATRequired(MIXERAT_REQUEST_LAND)){
needToCalculateCircularLoiter = false;
}
/* WP turn smoothing with 2 options, 1: pass through WP, 2: cut inside turn missing WP
* Works for turns > 30 degs and < 160 degs.