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update PG_WAYPOINT_MISSION_STORAGE omitted from #7510 (#7588)

master
Jonathan Hudson 3 years ago
committed by GitHub
parent
commit
9fb072e712
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
  1. 10
      src/main/navigation/navigation.c

10
src/main/navigation/navigation.c

@ -94,7 +94,7 @@ PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CO
STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_range);
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 1);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 14);
@ -1212,7 +1212,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
// If we reached desired initial RTH altitude or we don't want to climb first
if (((navGetCurrentActualPositionAndVelocity()->pos.z - posControl.rthState.rthInitialAltitude) > -rthAltitudeMargin) || (navConfig()->general.flags.rth_climb_first == OFF) || rthAltControlStickOverrideCheck(ROLL) || rthClimbStageActiveAndComplete()) {
// Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance
if (STATE(FIXED_WING_LEGACY)) {
initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos);
@ -2161,9 +2161,9 @@ static void updateDesiredRTHAltitude(void)
break;
case NAV_RTH_CLIMB_STAGE_EXTRA:
posControl.rthState.rthClimbStageAltitude = posControl.actualState.abs.pos.z + navConfig()->general.rth_climb_first_stage_altitude;
break;
break;
}
switch (navConfig()->general.flags.rth_alt_control_mode) {
case NAV_RTH_NO_ALT:
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
@ -2462,7 +2462,7 @@ static bool rthAltControlStickOverrideCheck(unsigned axis)
}
/* ---------------------------------------------------
* If climb stage is being used, see if it is time to
* If climb stage is being used, see if it is time to
* transiton in to turn.
* Limited to fixed wing only.
* --------------------------------------------------- */

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