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Initial build

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This commit is contained in:
breadoven 2021-05-10 11:25:38 +01:00
parent 449d7929db
commit eab816bf74
5 changed files with 45 additions and 5 deletions
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5
src/main/navigation/navigation.c
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@ -185,6 +185,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.launch_throttle = SETTING_NAV_FW_LAUNCH_THR_DEFAULT,
.launch_idle_throttle = SETTING_NAV_FW_LAUNCH_IDLE_THR_DEFAULT, // Motor idle or MOTOR_STOP
.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
.launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to gredually increase throttle from idle to launch
.launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
@ -2578,11 +2579,11 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, climbRateToAlti
}
else {
/*
/*
* If max altitude is set, reset climb rate if altitude is reached and climb rate is > 0
* In other words, when altitude is reached, allow it only to shrink
*/
if (navConfig()->general.max_altitude > 0 &&
if (navConfig()->general.max_altitude > 0 &&
altitudeToUse >= navConfig()->general.max_altitude &&
desiredClimbRate > 0
) {