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Fix premature completion of launch sequence

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-03-07 19:59:41 +10:00
parent ca923c49da
commit f44b101888
1 changed files with 31 additions and 23 deletions
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14
src/main/navigation/navigation_fw_launch.c
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@ -142,8 +142,11 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
// Called at PID rate
if (launchState.launchDetected) {
bool applyLaunchIdleLogic = true;
if (launchState.motorControlAllowed) {
// If launch detected we are in launch procedure - control airplane
const float timeElapsedSinceLaunchMs = US2MS(currentTimeUs- launchState.launchStartedTime);
const float timeElapsedSinceLaunchMs = US2MS(currentTimeUs - launchState.launchStartedTime);
// If user moves the stick - finish the launch
if ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband)) {
@ -156,7 +159,10 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
}
// Motor control enabled
if (launchState.motorControlAllowed && (timeElapsedSinceLaunchMs >= navConfig()->fw.launch_motor_timer)) {
if (timeElapsedSinceLaunchMs >= navConfig()->fw.launch_motor_timer) {
// Don't apply idle logic anymore
applyLaunchIdleLogic = false;
// Increase throttle gradually over `launch_motor_spinup_time` milliseconds
if (navConfig()->fw.launch_motor_spinup_time > 0) {
const float timeSinceMotorStartMs = constrainf(timeElapsedSinceLaunchMs - navConfig()->fw.launch_motor_timer, 0.0f, navConfig()->fw.launch_motor_spinup_time);
@ -169,7 +175,9 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
rcCommand[THROTTLE] = navConfig()->fw.launch_throttle;
}
}
else {
}
if (applyLaunchIdleLogic) {
// Launch idle logic - low throttle and zero out PIDs
applyFixedWingLaunchIdleLogic();
}