Implement CRUISE MODE for Fixed Wing #3311
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
giacomo892
force-pushed
the
nav_cruise_mode
branch
5 times, most recently
from
19b2b29 to
970c308
Compare
fiam
reviewed
Jun 6, 2018
src/main/fc/fc_msp_box.c
Outdated
| @@ -188,6 +189,7 @@ void initActiveBoxIds(void) | |||
| activeBoxIds[activeBoxIdCount++] = BOXNAVWP; | |||
| activeBoxIds[activeBoxIdCount++] = BOXHOMERESET; | |||
| activeBoxIds[activeBoxIdCount++] = BOXGCSNAV; | |||
| if(STATE(FIXED_WING)) {activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;} //Temp fix before CRUISE will be active for MC | |||
There was a problem hiding this comment.
Please, move the if body into its own line.
| @@ -340,7 +344,7 @@ void applyFixedWingPositionController(timeUs_t currentTimeUs) | |||
| // Calculate virtual position target at a distance of forwardVelocity * HZ2S(POSITION_TARGET_UPDATE_RATE_HZ) | |||
| // Account for pilot's roll input (move position target left/right at max of max_manual_speed) | |||
| // POSITION_TARGET_UPDATE_RATE_HZ should be chosen keeping in mind that position target shouldn't be reached until next pos update occurs | |||
| // FIXME: verify the above | |||
| // FIXME: verify the above- | |||
There was a problem hiding this comment.
Can you remove the extra -? Seems it's the only change in this line.
giacomo892
force-pushed
the
nav_cruise_mode
branch
2 times, most recently
from
9517fb1 to
963fcb7
Compare
giacomo892
force-pushed
the
nav_cruise_mode
branch
2 times, most recently
from
21ce792 to
b92e208
Compare
|
@giacomo892 @shellixyz rebase is required |
shellixyz
force-pushed
the
nav_cruise_mode
branch
from
d941f50 to
4771028
Compare
shellixyz
force-pushed
the
nav_cruise_mode
branch
from
4771028 to
fe06cb2
Compare
|
Rebased and squashed. I tested this extensively it is ready to merge IMO. |
digitalentity
approved these changes
Jun 16, 2018
|
Squashed again and merged. Thanks! |
Closed
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Implementing
CRUISE MODE(2D and 3D) for Fixed Wing aircrafts.2D Mode: The aircraft will maintain the current heading unless pilot changes it via yaw input or roll the aircraft.
3D Mode: The aircraft will maintain the current altitude (change via pitch command) and the current heading unless pilot changes it via yaw input or roll the aircraft.
It can be enabled together with launch mode so the aircraft will enter in
CRUISE MODEright after the launch is over.Thanks to @shellixyz for the contribution to the code and the massive amount of time spent in testing and fix issues with the implementation.
As today the code it is being flown and works but indeed code need a review.